From 9ed1098dc2d853e41b5adc9f99a67464843f4d08 Mon Sep 17 00:00:00 2001
From: psbiomech <psbiomech@gmail.com>
Date: Mon, 27 Jun 2022 15:04:22 +1000
Subject: [PATCH 1/8] Create .gitkeep
---
Bindings/Python/examples/Moco/example2DWalking/.gitkeep | 1 +
1 file changed, 1 insertion(+)
create mode 100644 Bindings/Python/examples/Moco/example2DWalking/.gitkeep
diff --git a/Bindings/Python/examples/Moco/example2DWalking/.gitkeep b/Bindings/Python/examples/Moco/example2DWalking/.gitkeep
new file mode 100644
index 0000000000..8b13789179
--- /dev/null
+++ b/Bindings/Python/examples/Moco/example2DWalking/.gitkeep
@@ -0,0 +1 @@
+
From 4156ba19ecf2e48444899ea1664ac49d433c0f95 Mon Sep 17 00:00:00 2001
From: psbiomech <psbiomech@gmail.com>
Date: Mon, 27 Jun 2022 15:07:24 +1000
Subject: [PATCH 2/8] Add files via upload
---
.../Moco/example2DWalking/2D_gait.osim | 2720 +++++++++++++++++
.../Moco/example2DWalking/example2DWalking.py | 384 +++
.../example2DWalkingMetabolics.py | 206 ++
.../example2DWalkingStepAsymmetry.py | 511 ++++
.../example2DWalking/referenceCoordinates.sto | 56 +
.../Moco/example2DWalking/referenceGRF.sto | 56 +
.../Moco/example2DWalking/referenceGRF.xml | 32 +
7 files changed, 3965 insertions(+)
create mode 100644 Bindings/Python/examples/Moco/example2DWalking/2D_gait.osim
create mode 100644 Bindings/Python/examples/Moco/example2DWalking/example2DWalking.py
create mode 100644 Bindings/Python/examples/Moco/example2DWalking/example2DWalkingMetabolics.py
create mode 100644 Bindings/Python/examples/Moco/example2DWalking/example2DWalkingStepAsymmetry.py
create mode 100644 Bindings/Python/examples/Moco/example2DWalking/referenceCoordinates.sto
create mode 100644 Bindings/Python/examples/Moco/example2DWalking/referenceGRF.sto
create mode 100644 Bindings/Python/examples/Moco/example2DWalking/referenceGRF.xml
diff --git a/Bindings/Python/examples/Moco/example2DWalking/2D_gait.osim b/Bindings/Python/examples/Moco/example2DWalking/2D_gait.osim
new file mode 100644
index 0000000000..a784971254
--- /dev/null
+++ b/Bindings/Python/examples/Moco/example2DWalking/2D_gait.osim
@@ -0,0 +1,2720 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<OpenSimDocument Version="40000">
+ <Model name="2D_gait">
+ <!--List of components that this component owns and serializes.-->
+ <components>
+ <SmoothSphereHalfSpaceForce name="contactHeel_r">
+ <!--Path to a Component that satisfies the Socket 'sphere' of type ContactSphere (description: The sphere participating in this contact.).-->
+ <socket_sphere>/contactgeometryset/heel_r</socket_sphere>
+ <!--Path to a Component that satisfies the Socket 'half_space' of type ContactHalfSpace (description: The half-space participating in this contact.).-->
+ <socket_half_space>/contactgeometryset/floor</socket_half_space>
+ <!--The stiffness constant (i.e., plain strain modulus), default is 1 (N/m^2)-->
+ <stiffness>3067776</stiffness>
+ <!--The dissipation coefficient, default is 0 (s/m).-->
+ <dissipation>2</dissipation>
+ <!--The coefficient of static friction, default is 0.-->
+ <static_friction>0.80000000000000004</static_friction>
+ <!--The coefficient of dynamic friction, default is 0.-->
+ <dynamic_friction>0.80000000000000004</dynamic_friction>
+ <!--The coefficient of viscous friction, default is 0.-->
+ <viscous_friction>0.5</viscous_friction>
+ <!--The transition velocity, default is 0.01 (m/s).-->
+ <transition_velocity>0.20000000000000001</transition_velocity>
+ <!--The parameter that determines the smoothness of the transition of the tanh used to smooth the Hertz force. The larger the steeper the transition but the worse for optimization, default is 300.-->
+ <hertz_smoothing>300</hertz_smoothing>
+ <!--The parameter that determines the smoothness of the transition of the tanh used to smooth the Hunt-Crossley force. The larger the steeper the transition but the worse for optimization, default is 50.-->
+ <hunt_crossley_smoothing>50</hunt_crossley_smoothing>
+ </SmoothSphereHalfSpaceForce>
+ <SmoothSphereHalfSpaceForce name="contactHeel_l">
+ <!--Path to a Component that satisfies the Socket 'sphere' of type ContactSphere (description: The sphere participating in this contact.).-->
+ <socket_sphere>/contactgeometryset/heel_l</socket_sphere>
+ <!--Path to a Component that satisfies the Socket 'half_space' of type ContactHalfSpace (description: The half-space participating in this contact.).-->
+ <socket_half_space>/contactgeometryset/floor</socket_half_space>
+ <!--The stiffness constant (i.e., plain strain modulus), default is 1 (N/m^2)-->
+ <stiffness>3067776</stiffness>
+ <!--The dissipation coefficient, default is 0 (s/m).-->
+ <dissipation>2</dissipation>
+ <!--The coefficient of static friction, default is 0.-->
+ <static_friction>0.80000000000000004</static_friction>
+ <!--The coefficient of dynamic friction, default is 0.-->
+ <dynamic_friction>0.80000000000000004</dynamic_friction>
+ <!--The coefficient of viscous friction, default is 0.-->
+ <viscous_friction>0.5</viscous_friction>
+ <!--The transition velocity, default is 0.01 (m/s).-->
+ <transition_velocity>0.20000000000000001</transition_velocity>
+ <!--The parameter that determines the smoothness of the transition of the tanh used to smooth the Hertz force. The larger the steeper the transition but the worse for optimization, default is 300.-->
+ <hertz_smoothing>300</hertz_smoothing>
+ <!--The parameter that determines the smoothness of the transition of the tanh used to smooth the Hunt-Crossley force. The larger the steeper the transition but the worse for optimization, default is 50.-->
+ <hunt_crossley_smoothing>50</hunt_crossley_smoothing>
+ </SmoothSphereHalfSpaceForce>
+ <SmoothSphereHalfSpaceForce name="contactFront_r">
+ <!--Path to a Component that satisfies the Socket 'sphere' of type ContactSphere (description: The sphere participating in this contact.).-->
+ <socket_sphere>/contactgeometryset/front_r</socket_sphere>
+ <!--Path to a Component that satisfies the Socket 'half_space' of type ContactHalfSpace (description: The half-space participating in this contact.).-->
+ <socket_half_space>/contactgeometryset/floor</socket_half_space>
+ <!--The stiffness constant (i.e., plain strain modulus), default is 1 (N/m^2)-->
+ <stiffness>3067776</stiffness>
+ <!--The dissipation coefficient, default is 0 (s/m).-->
+ <dissipation>2</dissipation>
+ <!--The coefficient of static friction, default is 0.-->
+ <static_friction>0.80000000000000004</static_friction>
+ <!--The coefficient of dynamic friction, default is 0.-->
+ <dynamic_friction>0.80000000000000004</dynamic_friction>
+ <!--The coefficient of viscous friction, default is 0.-->
+ <viscous_friction>0.5</viscous_friction>
+ <!--The transition velocity, default is 0.01 (m/s).-->
+ <transition_velocity>0.20000000000000001</transition_velocity>
+ <!--The parameter that determines the smoothness of the transition of the tanh used to smooth the Hertz force. The larger the steeper the transition but the worse for optimization, default is 300.-->
+ <hertz_smoothing>300</hertz_smoothing>
+ <!--The parameter that determines the smoothness of the transition of the tanh used to smooth the Hunt-Crossley force. The larger the steeper the transition but the worse for optimization, default is 50.-->
+ <hunt_crossley_smoothing>50</hunt_crossley_smoothing>
+ </SmoothSphereHalfSpaceForce>
+ <SmoothSphereHalfSpaceForce name="contactFront_l">
+ <!--Path to a Component that satisfies the Socket 'sphere' of type ContactSphere (description: The sphere participating in this contact.).-->
+ <socket_sphere>/contactgeometryset/front_l</socket_sphere>
+ <!--Path to a Component that satisfies the Socket 'half_space' of type ContactHalfSpace (description: The half-space participating in this contact.).-->
+ <socket_half_space>/contactgeometryset/floor</socket_half_space>
+ <!--The stiffness constant (i.e., plain strain modulus), default is 1 (N/m^2)-->
+ <stiffness>3067776</stiffness>
+ <!--The dissipation coefficient, default is 0 (s/m).-->
+ <dissipation>2</dissipation>
+ <!--The coefficient of static friction, default is 0.-->
+ <static_friction>0.80000000000000004</static_friction>
+ <!--The coefficient of dynamic friction, default is 0.-->
+ <dynamic_friction>0.80000000000000004</dynamic_friction>
+ <!--The coefficient of viscous friction, default is 0.-->
+ <viscous_friction>0.5</viscous_friction>
+ <!--The transition velocity, default is 0.01 (m/s).-->
+ <transition_velocity>0.20000000000000001</transition_velocity>
+ <!--The parameter that determines the smoothness of the transition of the tanh used to smooth the Hertz force. The larger the steeper the transition but the worse for optimization, default is 300.-->
+ <hertz_smoothing>300</hertz_smoothing>
+ <!--The parameter that determines the smoothness of the transition of the tanh used to smooth the Hunt-Crossley force. The larger the steeper the transition but the worse for optimization, default is 50.-->
+ <hunt_crossley_smoothing>50</hunt_crossley_smoothing>
+ </SmoothSphereHalfSpaceForce>
+ <CoordinateActuator name="lumbarAct">
+ <!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+ <min_control>-150</min_control>
+ <!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+ <max_control>150</max_control>
+ <!--Name of the generalized coordinate to which the actuator applies.-->
+ <coordinate>lumbar</coordinate>
+ <!--The maximum generalized force produced by this actuator.-->
+ <optimal_force>1</optimal_force>
+ </CoordinateActuator>
+ <DeGrooteFregly2016Muscle name="hamstrings_r">
+ <!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+ <min_control>0.01</min_control>
+ <!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+ <max_control>1</max_control>
+ <!--The set of points defining the path of the actuator.-->
+ <GeometryPath name="geometrypath">
+ <!--The set of points defining the path-->
+ <PathPointSet>
+ <objects>
+ <PathPoint name="bifemlh_r-P1">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.121645 -0.099055900000000002 0.068467600000000003</location>
+ </PathPoint>
+ <PathPoint name="bifemlh_r-P2">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.029098599999999999 -0.034802399999999997 0.028450900000000001</location>
+ </PathPoint>
+ <PathPoint name="bifemlh_r-P3">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.022621499999999999 -0.054427000000000003 0.033158899999999998</location>
+ </PathPoint>
+ </objects>
+ <groups />
+ </PathPointSet>
+ <!--The wrap objects that are associated with this path-->
+ <PathWrapSet>
+ <objects />
+ <groups />
+ </PathWrapSet>
+ <!--Default appearance attributes for this GeometryPath-->
+ <Appearance>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
+ </Appearance>
+ </GeometryPath>
+ <!--Maximum isometric force that the fibers can generate-->
+ <max_isometric_force>2700</max_isometric_force>
+ <!--Optimal length of the muscle fibers-->
+ <optimal_fiber_length>0.10905928770854099</optimal_fiber_length>
+ <!--Resting length of the tendon-->
+ <tendon_slack_length>0.32617731920169202</tendon_slack_length>
+ <!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+ <pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+ <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+ <max_contraction_velocity>10</max_contraction_velocity>
+ <!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
+ <ignore_tendon_compliance>true</ignore_tendon_compliance>
+ <!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
+ <ignore_activation_dynamics>false</ignore_activation_dynamics>
+ <!--Smaller value means activation can increase more rapidly. Default: 0.015 seconds.-->
+ <activation_time_constant>0.014999999999999999</activation_time_constant>
+ <!--Smaller value means activation can decrease more rapidly. Default: 0.060 seconds.-->
+ <deactivation_time_constant>0.059999999999999998</deactivation_time_constant>
+ <!--Value of activation in the default state returned by initSystem(). Default: 0.5.-->
+ <default_activation>0.01</default_activation>
+ <!--Scale factor for the width of the active force-length curve. Larger values make the curve wider. Default: 1.0.-->
+ <active_force_width_scale>1</active_force_width_scale>
+ <!--Use this property to define the linear damping force that is added to the total muscle fiber force. It is computed by multiplying this damping parameter by the normalized fiber velocity and the max isometric force. Default: 0.-->
+ <fiber_damping>0.01</fiber_damping>
+ <!--Tendon strain at a tension of 1 normalized force. Default: 0.049.-->
+ <tendon_strain_at_one_norm_force>0.049000000000000002</tendon_strain_at_one_norm_force>
+ <!--Make the passive fiber force 0. Default: false.-->
+ <ignore_passive_fiber_force>false</ignore_passive_fiber_force>
+ </DeGrooteFregly2016Muscle>
+ <DeGrooteFregly2016Muscle name="bifemsh_r">
+ <!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+ <min_control>0.01</min_control>
+ <!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+ <max_control>1</max_control>
+ <!--The set of points defining the path of the actuator.-->
+ <GeometryPath name="geometrypath">
+ <!--The set of points defining the path-->
+ <PathPointSet>
+ <objects>
+ <PathPoint name="bifemsh_r-P1">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>0.0050137300000000001 -0.21167900000000001 0.023464200000000001</location>
+ </PathPoint>
+ <PathPoint name="bifemsh_r-P2">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.029098599999999999 -0.034802399999999997 0.028450900000000001</location>
+ </PathPoint>
+ <PathPoint name="bifemsh_r-P3">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.022621499999999999 -0.054427000000000003 0.033158899999999998</location>
+ </PathPoint>
+ </objects>
+ <groups />
+ </PathPointSet>
+ <!--The wrap objects that are associated with this path-->
+ <PathWrapSet>
+ <objects />
+ <groups />
+ </PathWrapSet>
+ <!--Default appearance attributes for this GeometryPath-->
+ <Appearance>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
+ </Appearance>
+ </GeometryPath>
+ <!--Maximum isometric force that the fibers can generate-->
+ <max_isometric_force>804</max_isometric_force>
+ <!--Optimal length of the muscle fibers-->
+ <optimal_fiber_length>0.171872304562285</optimal_fiber_length>
+ <!--Resting length of the tendon-->
+ <tendon_slack_length>0.088419856104296701</tendon_slack_length>
+ <!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+ <pennation_angle_at_optimal>0.40142572999999998</pennation_angle_at_optimal>
+ <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+ <max_contraction_velocity>10</max_contraction_velocity>
+ <!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
+ <ignore_tendon_compliance>true</ignore_tendon_compliance>
+ <!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
+ <ignore_activation_dynamics>false</ignore_activation_dynamics>
+ <!--Smaller value means activation can increase more rapidly. Default: 0.015 seconds.-->
+ <activation_time_constant>0.014999999999999999</activation_time_constant>
+ <!--Smaller value means activation can decrease more rapidly. Default: 0.060 seconds.-->
+ <deactivation_time_constant>0.059999999999999998</deactivation_time_constant>
+ <!--Value of activation in the default state returned by initSystem(). Default: 0.5.-->
+ <default_activation>0.01</default_activation>
+ <!--Scale factor for the width of the active force-length curve. Larger values make the curve wider. Default: 1.0.-->
+ <active_force_width_scale>1</active_force_width_scale>
+ <!--Use this property to define the linear damping force that is added to the total muscle fiber force. It is computed by multiplying this damping parameter by the normalized fiber velocity and the max isometric force. Default: 0.-->
+ <fiber_damping>0.01</fiber_damping>
+ <!--Tendon strain at a tension of 1 normalized force. Default: 0.049.-->
+ <tendon_strain_at_one_norm_force>0.049000000000000002</tendon_strain_at_one_norm_force>
+ <!--Make the passive fiber force 0. Default: false.-->
+ <ignore_passive_fiber_force>false</ignore_passive_fiber_force>
+ </DeGrooteFregly2016Muscle>
+ <DeGrooteFregly2016Muscle name="glut_max_r">
+ <!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+ <min_control>0.01</min_control>
+ <!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+ <max_control>1</max_control>
+ <!--The set of points defining the path of the actuator.-->
+ <GeometryPath name="geometrypath">
+ <!--The set of points defining the path-->
+ <PathPointSet>
+ <objects>
+ <PathPoint name="glut_max_r-P1">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.127188 0.0084019400000000001 0.045553000000000003</location>
+ </PathPoint>
+ <PathPoint name="glut_max_r-P2">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.12979499999999999 -0.058813600000000001 0.080161499999999997</location>
+ </PathPoint>
+ <PathPoint name="glut_max_r-P3">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.045123499999999997 -0.058560300000000003 0.025269199999999999</location>
+ </PathPoint>
+ <PathPoint name="glut_max_r-P4">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.015642799999999998 -0.101879 0.042014999999999997</location>
+ </PathPoint>
+ </objects>
+ <groups />
+ </PathPointSet>
+ <!--The wrap objects that are associated with this path-->
+ <PathWrapSet>
+ <objects />
+ <groups />
+ </PathWrapSet>
+ <!--Default appearance attributes for this GeometryPath-->
+ <Appearance>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
+ </Appearance>
+ </GeometryPath>
+ <!--Maximum isometric force that the fibers can generate-->
+ <max_isometric_force>1944</max_isometric_force>
+ <!--Optimal length of the muscle fibers-->
+ <optimal_fiber_length>0.15477839388148101</optimal_fiber_length>
+ <!--Resting length of the tendon-->
+ <tendon_slack_length>0.072308835382489306</tendon_slack_length>
+ <!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+ <pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+ <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+ <max_contraction_velocity>10</max_contraction_velocity>
+ <!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
+ <ignore_tendon_compliance>true</ignore_tendon_compliance>
+ <!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
+ <ignore_activation_dynamics>false</ignore_activation_dynamics>
+ <!--Smaller value means activation can increase more rapidly. Default: 0.015 seconds.-->
+ <activation_time_constant>0.014999999999999999</activation_time_constant>
+ <!--Smaller value means activation can decrease more rapidly. Default: 0.060 seconds.-->
+ <deactivation_time_constant>0.059999999999999998</deactivation_time_constant>
+ <!--Value of activation in the default state returned by initSystem(). Default: 0.5.-->
+ <default_activation>0.01</default_activation>
+ <!--Scale factor for the width of the active force-length curve. Larger values make the curve wider. Default: 1.0.-->
+ <active_force_width_scale>1</active_force_width_scale>
+ <!--Use this property to define the linear damping force that is added to the total muscle fiber force. It is computed by multiplying this damping parameter by the normalized fiber velocity and the max isometric force. Default: 0.-->
+ <fiber_damping>0.01</fiber_damping>
+ <!--Tendon strain at a tension of 1 normalized force. Default: 0.049.-->
+ <tendon_strain_at_one_norm_force>0.049000000000000002</tendon_strain_at_one_norm_force>
+ <!--Make the passive fiber force 0. Default: false.-->
+ <ignore_passive_fiber_force>false</ignore_passive_fiber_force>
+ </DeGrooteFregly2016Muscle>
+ <DeGrooteFregly2016Muscle name="iliopsoas_r">
+ <!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+ <min_control>0.01</min_control>
+ <!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+ <max_control>1</max_control>
+ <!--The set of points defining the path of the actuator.-->
+ <GeometryPath name="geometrypath">
+ <!--The set of points defining the path-->
+ <PathPointSet>
+ <objects>
+ <PathPoint name="psoas_r-P1">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.062483400000000001 0.085661100000000004 0.028495300000000001</location>
+ </PathPoint>
+ <PathPoint name="psoas_r-P2">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.022984600000000001 -0.055047199999999998 0.074837100000000004</location>
+ </PathPoint>
+ <ConditionalPathPoint name="psoas_r-P3">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.027813299999999999 -0.077742000000000006 0.080457299999999995</location>
+ <!--Path to a Component that satisfies the Socket 'coordinate' of type Coordinate (description: The coordinate whose value determines when the path point is active according to the specified range.).-->
+ <socket_coordinate>/jointset/hip_r/hip_flexion_r</socket_coordinate>
+ <!--The minimum and maximum values that the coordinate can range between, for which the PathPoint is active. Angular coordinates in radians.-->
+ <range>-1.5708 0.78539800000000004</range>
+ </ConditionalPathPoint>
+ <PathPoint name="psoas_r-P4">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>0.00160439 -0.050839200000000001 0.0038104300000000001</location>
+ </PathPoint>
+ <PathPoint name="psoas_r-P5">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.0188516 -0.059863899999999998 0.0104285</location>
+ </PathPoint>
+ </objects>
+ <groups />
+ </PathPointSet>
+ <!--The wrap objects that are associated with this path-->
+ <PathWrapSet>
+ <objects />
+ <groups />
+ </PathWrapSet>
+ <!--Default appearance attributes for this GeometryPath-->
+ <Appearance>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
+ </Appearance>
+ </GeometryPath>
+ <!--Maximum isometric force that the fibers can generate-->
+ <max_isometric_force>2342</max_isometric_force>
+ <!--Optimal length of the muscle fibers-->
+ <optimal_fiber_length>0.097499585002471204</optimal_fiber_length>
+ <!--Resting length of the tendon-->
+ <tendon_slack_length>0.15599933600395399</tendon_slack_length>
+ <!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+ <pennation_angle_at_optimal>0.13962633999999999</pennation_angle_at_optimal>
+ <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+ <max_contraction_velocity>10</max_contraction_velocity>
+ <!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
+ <ignore_tendon_compliance>true</ignore_tendon_compliance>
+ <!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
+ <ignore_activation_dynamics>false</ignore_activation_dynamics>
+ <!--Smaller value means activation can increase more rapidly. Default: 0.015 seconds.-->
+ <activation_time_constant>0.014999999999999999</activation_time_constant>
+ <!--Smaller value means activation can decrease more rapidly. Default: 0.060 seconds.-->
+ <deactivation_time_constant>0.059999999999999998</deactivation_time_constant>
+ <!--Value of activation in the default state returned by initSystem(). Default: 0.5.-->
+ <default_activation>0.01</default_activation>
+ <!--Scale factor for the width of the active force-length curve. Larger values make the curve wider. Default: 1.0.-->
+ <active_force_width_scale>1</active_force_width_scale>
+ <!--Use this property to define the linear damping force that is added to the total muscle fiber force. It is computed by multiplying this damping parameter by the normalized fiber velocity and the max isometric force. Default: 0.-->
+ <fiber_damping>0.01</fiber_damping>
+ <!--Tendon strain at a tension of 1 normalized force. Default: 0.049.-->
+ <tendon_strain_at_one_norm_force>0.049000000000000002</tendon_strain_at_one_norm_force>
+ <!--Make the passive fiber force 0. Default: false.-->
+ <ignore_passive_fiber_force>false</ignore_passive_fiber_force>
+ </DeGrooteFregly2016Muscle>
+ <DeGrooteFregly2016Muscle name="rect_fem_r">
+ <!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+ <min_control>0.01</min_control>
+ <!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+ <max_control>1</max_control>
+ <!--The set of points defining the path of the actuator.-->
+ <GeometryPath name="geometrypath">
+ <!--The set of points defining the path-->
+ <PathPointSet>
+ <objects>
+ <PathPoint name="rect_fem_r-P1">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.028489299999999999 -0.030034499999999999 0.095444399999999999</location>
+ </PathPoint>
+ <ConditionalPathPoint name="rect_fem_r-P2">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>0.033491699999999999 -0.40410600000000002 0.00190522</location>
+ <!--Path to a Component that satisfies the Socket 'coordinate' of type Coordinate (description: The coordinate whose value determines when the path point is active according to the specified range.).-->
+ <socket_coordinate>/jointset/knee_r/knee_angle_r</socket_coordinate>
+ <!--The minimum and maximum values that the coordinate can range between, for which the PathPoint is active. Angular coordinates in radians.-->
+ <range>-2.6179899999999998 -1.45997</range>
+ </ConditionalPathPoint>
+ <MovingPathPoint name="rect_fem_r-P3">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
+ <!--Path to a Component that satisfies the Socket 'x_coordinate' of type Coordinate (description: The x_location function is a function of this coordinate's value.).-->
+ <socket_x_coordinate>/jointset/knee_r/knee_angle_r</socket_x_coordinate>
+ <!--Path to a Component that satisfies the Socket 'y_coordinate' of type Coordinate (description: The y_location function is a function of this coordinate's value.).-->
+ <socket_y_coordinate>/jointset/knee_r/knee_angle_r</socket_y_coordinate>
+ <!--Path to a Component that satisfies the Socket 'z_coordinate' of type Coordinate (description: The z_location function is a function of this coordinate's value.).-->
+ <socket_z_coordinate>/jointset/knee_r/knee_angle_r</socket_z_coordinate>
+ <!--Function defining the x component of the point's location expressed in the Frame of the Point.-->
+ <x_location>
+ <MultiplierFunction>
+ <function>
+ <SimmSpline>
+ <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
+ <y> 0.0155805 0.0179938 0.0275081 0.0296564 0.0307615 0.0365695 0.0422074 0.0450902 0.048391 0.0534299 0.0617576 0.0617669 0.0617762 0.0633083 0.066994 0.0733035 0.0573481</y>
+ </SimmSpline>
+ </function>
+ <scale>0.96673215203466201</scale>
+ </MultiplierFunction>
+ </x_location>
+ <!--Function defining the y component of the point's location expressed in the Frame of the Point.-->
+ <y_location>
+ <MultiplierFunction>
+ <function>
+ <SimmSpline>
+ <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
+ <y> 0.0234116 0.0237613 0.0251141 0.0252795 0.0253146 0.0249184 0.0242373 0.0238447 0.0234197 0.0227644 0.020984 0.0209814 0.0209788 0.0205225 0.0191754 0.0159554 -0.0673774</y>
+ </SimmSpline>
+ </function>
+ <scale>0.96673215203466201</scale>
+ </MultiplierFunction>
+ </y_location>
+ <!--Function defining the z component of the point's location expressed in the Frame of the Point.-->
+ <z_location>
+ <MultiplierFunction>
+ <function>
+ <SimmSpline>
+ <x> -2.0944 0.1745</x>
+ <y> 0.0014 0.0014</y>
+ </SimmSpline>
+ </function>
+ <scale>0.96673215203466201</scale>
+ </MultiplierFunction>
+ </z_location>
+ </MovingPathPoint>
+ </objects>
+ <groups />
+ </PathPointSet>
+ <!--The wrap objects that are associated with this path-->
+ <PathWrapSet>
+ <objects />
+ <groups />
+ </PathWrapSet>
+ <!--Default appearance attributes for this GeometryPath-->
+ <Appearance>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
+ </Appearance>
+ </GeometryPath>
+ <!--Maximum isometric force that the fibers can generate-->
+ <max_isometric_force>1169</max_isometric_force>
+ <!--Optimal length of the muscle fibers-->
+ <optimal_fiber_length>0.114154396713697</optimal_fiber_length>
+ <!--Resting length of the tendon-->
+ <tendon_slack_length>0.31041985071268602</tendon_slack_length>
+ <!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+ <pennation_angle_at_optimal>0.087266460000000004</pennation_angle_at_optimal>
+ <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+ <max_contraction_velocity>10</max_contraction_velocity>
+ <!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
+ <ignore_tendon_compliance>true</ignore_tendon_compliance>
+ <!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
+ <ignore_activation_dynamics>false</ignore_activation_dynamics>
+ <!--Smaller value means activation can increase more rapidly. Default: 0.015 seconds.-->
+ <activation_time_constant>0.014999999999999999</activation_time_constant>
+ <!--Smaller value means activation can decrease more rapidly. Default: 0.060 seconds.-->
+ <deactivation_time_constant>0.059999999999999998</deactivation_time_constant>
+ <!--Value of activation in the default state returned by initSystem(). Default: 0.5.-->
+ <default_activation>0.01</default_activation>
+ <!--Scale factor for the width of the active force-length curve. Larger values make the curve wider. Default: 1.0.-->
+ <active_force_width_scale>1</active_force_width_scale>
+ <!--Use this property to define the linear damping force that is added to the total muscle fiber force. It is computed by multiplying this damping parameter by the normalized fiber velocity and the max isometric force. Default: 0.-->
+ <fiber_damping>0.01</fiber_damping>
+ <!--Tendon strain at a tension of 1 normalized force. Default: 0.049.-->
+ <tendon_strain_at_one_norm_force>0.049000000000000002</tendon_strain_at_one_norm_force>
+ <!--Make the passive fiber force 0. Default: false.-->
+ <ignore_passive_fiber_force>false</ignore_passive_fiber_force>
+ </DeGrooteFregly2016Muscle>
+ <DeGrooteFregly2016Muscle name="vasti_r">
+ <!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+ <min_control>0.01</min_control>
+ <!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+ <max_control>1</max_control>
+ <!--The set of points defining the path of the actuator.-->
+ <GeometryPath name="geometrypath">
+ <!--The set of points defining the path-->
+ <PathPointSet>
+ <objects>
+ <PathPoint name="vas_int_r-P1">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>0.029079600000000001 -0.19292799999999999 0.031085100000000001</location>
+ </PathPoint>
+ <PathPoint name="vas_int_r-P2">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>0.033591999999999997 -0.20897199999999999 0.028578200000000002</location>
+ </PathPoint>
+ <ConditionalPathPoint name="vas_int_r-P3">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>0.0343942 -0.40410600000000002 0.0055151000000000002</location>
+ <!--Path to a Component that satisfies the Socket 'coordinate' of type Coordinate (description: The coordinate whose value determines when the path point is active according to the specified range.).-->
+ <socket_coordinate>/jointset/knee_r/knee_angle_r</socket_coordinate>
+ <!--The minimum and maximum values that the coordinate can range between, for which the PathPoint is active. Angular coordinates in radians.-->
+ <range>-2.6179899999999998 -1.4199999999999999</range>
+ </ConditionalPathPoint>
+ <MovingPathPoint name="vas_int_r-P4">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
+ <!--Path to a Component that satisfies the Socket 'x_coordinate' of type Coordinate (description: The x_location function is a function of this coordinate's value.).-->
+ <socket_x_coordinate>/jointset/knee_r/knee_angle_r</socket_x_coordinate>
+ <!--Path to a Component that satisfies the Socket 'y_coordinate' of type Coordinate (description: The y_location function is a function of this coordinate's value.).-->
+ <socket_y_coordinate>/jointset/knee_r/knee_angle_r</socket_y_coordinate>
+ <!--Path to a Component that satisfies the Socket 'z_coordinate' of type Coordinate (description: The z_location function is a function of this coordinate's value.).-->
+ <socket_z_coordinate>/jointset/knee_r/knee_angle_r</socket_z_coordinate>
+ <!--Function defining the x component of the point's location expressed in the Frame of the Point.-->
+ <x_location>
+ <MultiplierFunction>
+ <function>
+ <SimmSpline>
+ <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
+ <y> 0.0082733 0.0106866 0.0202042 0.022353 0.0234583 0.0292715 0.0349465 0.037871 0.0412569 0.0465287 0.0554632 0.0554735 0.0554837 0.0571717 0.061272 0.0684368 0.0648818</y>
+ </SimmSpline>
+ </function>
+ <scale>0.96673215203466201</scale>
+ </MultiplierFunction>
+ </x_location>
+ <!--Function defining the y component of the point's location expressed in the Frame of the Point.-->
+ <y_location>
+ <MultiplierFunction>
+ <function>
+ <SimmSpline>
+ <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
+ <y> 0.025599 0.0259487 0.0273124 0.0274796 0.0275151 0.0271363 0.0265737 0.0263073 0.0261187 0.0260129 0.0252923 0.0252911 0.0252898 0.0250526 0.0242191 0.0218288 -0.0685706</y>
+ </SimmSpline>
+ </function>
+ <scale>0.96673215203466201</scale>
+ </MultiplierFunction>
+ </y_location>
+ <!--Function defining the z component of the point's location expressed in the Frame of the Point.-->
+ <z_location>
+ <MultiplierFunction>
+ <function>
+ <SimmSpline>
+ <x> -2.0944 2.0944</x>
+ <y> 0.0018 0.0018</y>
+ </SimmSpline>
+ </function>
+ <scale>0.96673215203466201</scale>
+ </MultiplierFunction>
+ </z_location>
+ </MovingPathPoint>
+ </objects>
+ <groups />
+ </PathPointSet>
+ <!--The wrap objects that are associated with this path-->
+ <PathWrapSet>
+ <objects />
+ <groups />
+ </PathWrapSet>
+ <!--Default appearance attributes for this GeometryPath-->
+ <Appearance>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
+ </Appearance>
+ </GeometryPath>
+ <!--Maximum isometric force that the fibers can generate-->
+ <max_isometric_force>5000</max_isometric_force>
+ <!--Optimal length of the muscle fibers-->
+ <optimal_fiber_length>0.107708763662917</optimal_fiber_length>
+ <!--Resting length of the tendon-->
+ <tendon_slack_length>0.116768379298115</tendon_slack_length>
+ <!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+ <pennation_angle_at_optimal>0.052359879999999998</pennation_angle_at_optimal>
+ <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+ <max_contraction_velocity>10</max_contraction_velocity>
+ <!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
+ <ignore_tendon_compliance>true</ignore_tendon_compliance>
+ <!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
+ <ignore_activation_dynamics>false</ignore_activation_dynamics>
+ <!--Smaller value means activation can increase more rapidly. Default: 0.015 seconds.-->
+ <activation_time_constant>0.014999999999999999</activation_time_constant>
+ <!--Smaller value means activation can decrease more rapidly. Default: 0.060 seconds.-->
+ <deactivation_time_constant>0.059999999999999998</deactivation_time_constant>
+ <!--Value of activation in the default state returned by initSystem(). Default: 0.5.-->
+ <default_activation>0.01</default_activation>
+ <!--Scale factor for the width of the active force-length curve. Larger values make the curve wider. Default: 1.0.-->
+ <active_force_width_scale>1</active_force_width_scale>
+ <!--Use this property to define the linear damping force that is added to the total muscle fiber force. It is computed by multiplying this damping parameter by the normalized fiber velocity and the max isometric force. Default: 0.-->
+ <fiber_damping>0.01</fiber_damping>
+ <!--Tendon strain at a tension of 1 normalized force. Default: 0.049.-->
+ <tendon_strain_at_one_norm_force>0.049000000000000002</tendon_strain_at_one_norm_force>
+ <!--Make the passive fiber force 0. Default: false.-->
+ <ignore_passive_fiber_force>false</ignore_passive_fiber_force>
+ </DeGrooteFregly2016Muscle>
+ <DeGrooteFregly2016Muscle name="gastroc_r">
+ <!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+ <min_control>0.01</min_control>
+ <!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+ <max_control>1</max_control>
+ <!--The set of points defining the path of the actuator.-->
+ <GeometryPath name="geometrypath">
+ <!--The set of points defining the path-->
+ <PathPointSet>
+ <objects>
+ <PathPoint name="med_gas_r-P1">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.019052199999999998 -0.39397900000000002 -0.023564499999999999</location>
+ </PathPoint>
+ <ConditionalPathPoint name="med_gas_r-P2">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/femur_r</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.030082399999999999 -0.403304 -0.025870799999999999</location>
+ <!--Path to a Component that satisfies the Socket 'coordinate' of type Coordinate (description: The coordinate whose value determines when the path point is active according to the specified range.).-->
+ <socket_coordinate>/jointset/knee_r/knee_angle_r</socket_coordinate>
+ <!--The minimum and maximum values that the coordinate can range between, for which the PathPoint is active. Angular coordinates in radians.-->
+ <range>-0.78539800000000004 0.17453299999999999</range>
+ </ConditionalPathPoint>
+ <PathPoint name="med_gas_r-P3">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>0 0.028331700000000001 -0.0048437999999999997</location>
+ </PathPoint>
+ </objects>
+ <groups />
+ </PathPointSet>
+ <!--The wrap objects that are associated with this path-->
+ <PathWrapSet>
+ <objects />
+ <groups />
+ </PathWrapSet>
+ <!--Default appearance attributes for this GeometryPath-->
+ <Appearance>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
+ </Appearance>
+ </GeometryPath>
+ <!--Maximum isometric force that the fibers can generate-->
+ <max_isometric_force>2500</max_isometric_force>
+ <!--Optimal length of the muscle fibers-->
+ <optimal_fiber_length>0.086926079311056698</optimal_fiber_length>
+ <!--Resting length of the tendon-->
+ <tendon_slack_length>0.34770431724422701</tendon_slack_length>
+ <!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+ <pennation_angle_at_optimal>0.29670596999999999</pennation_angle_at_optimal>
+ <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+ <max_contraction_velocity>10</max_contraction_velocity>
+ <!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
+ <ignore_tendon_compliance>true</ignore_tendon_compliance>
+ <!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
+ <ignore_activation_dynamics>false</ignore_activation_dynamics>
+ <!--Smaller value means activation can increase more rapidly. Default: 0.015 seconds.-->
+ <activation_time_constant>0.014999999999999999</activation_time_constant>
+ <!--Smaller value means activation can decrease more rapidly. Default: 0.060 seconds.-->
+ <deactivation_time_constant>0.059999999999999998</deactivation_time_constant>
+ <!--Value of activation in the default state returned by initSystem(). Default: 0.5.-->
+ <default_activation>0.01</default_activation>
+ <!--Scale factor for the width of the active force-length curve. Larger values make the curve wider. Default: 1.0.-->
+ <active_force_width_scale>1</active_force_width_scale>
+ <!--Use this property to define the linear damping force that is added to the total muscle fiber force. It is computed by multiplying this damping parameter by the normalized fiber velocity and the max isometric force. Default: 0.-->
+ <fiber_damping>0.01</fiber_damping>
+ <!--Tendon strain at a tension of 1 normalized force. Default: 0.049.-->
+ <tendon_strain_at_one_norm_force>0.049000000000000002</tendon_strain_at_one_norm_force>
+ <!--Make the passive fiber force 0. Default: false.-->
+ <ignore_passive_fiber_force>false</ignore_passive_fiber_force>
+ </DeGrooteFregly2016Muscle>
+ <DeGrooteFregly2016Muscle name="soleus_r">
+ <!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+ <min_control>0.01</min_control>
+ <!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+ <max_control>1</max_control>
+ <!--The set of points defining the path of the actuator.-->
+ <GeometryPath name="geometrypath">
+ <!--The set of points defining the path-->
+ <PathPointSet>
+ <objects>
+ <PathPoint name="soleus_r-P1">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.0023201599999999999 -0.1482 0.0068637999999999998</location>
+ </PathPoint>
+ <PathPoint name="soleus_r-P2">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>0 0.028331700000000001 -0.0048437999999999997</location>
+ </PathPoint>
+ </objects>
+ <groups />
+ </PathPointSet>
+ <!--The wrap objects that are associated with this path-->
+ <PathWrapSet>
+ <objects />
+ <groups />
+ </PathWrapSet>
+ <!--Default appearance attributes for this GeometryPath-->
+ <Appearance>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
+ </Appearance>
+ </GeometryPath>
+ <!--Maximum isometric force that the fibers can generate-->
+ <max_isometric_force>5137</max_isometric_force>
+ <!--Optimal length of the muscle fibers-->
+ <optimal_fiber_length>0.048170551124502803</optimal_fiber_length>
+ <!--Resting length of the tendon-->
+ <tendon_slack_length>0.24085275562251399</tendon_slack_length>
+ <!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+ <pennation_angle_at_optimal>0.43633231</pennation_angle_at_optimal>
+ <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+ <max_contraction_velocity>10</max_contraction_velocity>
+ <!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
+ <ignore_tendon_compliance>true</ignore_tendon_compliance>
+ <!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
+ <ignore_activation_dynamics>false</ignore_activation_dynamics>
+ <!--Smaller value means activation can increase more rapidly. Default: 0.015 seconds.-->
+ <activation_time_constant>0.014999999999999999</activation_time_constant>
+ <!--Smaller value means activation can decrease more rapidly. Default: 0.060 seconds.-->
+ <deactivation_time_constant>0.059999999999999998</deactivation_time_constant>
+ <!--Value of activation in the default state returned by initSystem(). Default: 0.5.-->
+ <default_activation>0.01</default_activation>
+ <!--Scale factor for the width of the active force-length curve. Larger values make the curve wider. Default: 1.0.-->
+ <active_force_width_scale>1</active_force_width_scale>
+ <!--Use this property to define the linear damping force that is added to the total muscle fiber force. It is computed by multiplying this damping parameter by the normalized fiber velocity and the max isometric force. Default: 0.-->
+ <fiber_damping>0.01</fiber_damping>
+ <!--Tendon strain at a tension of 1 normalized force. Default: 0.049.-->
+ <tendon_strain_at_one_norm_force>0.049000000000000002</tendon_strain_at_one_norm_force>
+ <!--Make the passive fiber force 0. Default: false.-->
+ <ignore_passive_fiber_force>false</ignore_passive_fiber_force>
+ </DeGrooteFregly2016Muscle>
+ <DeGrooteFregly2016Muscle name="tib_ant_r">
+ <!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+ <min_control>0.01</min_control>
+ <!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+ <max_control>1</max_control>
+ <!--The set of points defining the path of the actuator.-->
+ <GeometryPath name="geometrypath">
+ <!--The set of points defining the path-->
+ <PathPointSet>
+ <objects>
+ <PathPoint name="tib_ant_r-P1">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>0.0173045 -0.156997 0.0111174</location>
+ </PathPoint>
+ <PathPoint name="tib_ant_r-P2">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/tibia_r</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>0.0318055 -0.38195600000000002 -0.0171112</location>
+ </PathPoint>
+ <PathPoint name="tib_ant_r-P3">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/calcn_r</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>0.10656400000000001 0.016267899999999998 -0.027874699999999999</location>
+ </PathPoint>
+ </objects>
+ <groups />
+ </PathPointSet>
+ <!--The wrap objects that are associated with this path-->
+ <PathWrapSet>
+ <objects />
+ <groups />
+ </PathWrapSet>
+ <!--Default appearance attributes for this GeometryPath-->
+ <Appearance>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
+ </Appearance>
+ </GeometryPath>
+ <!--Maximum isometric force that the fibers can generate-->
+ <max_isometric_force>3000</max_isometric_force>
+ <!--Optimal length of the muscle fibers-->
+ <optimal_fiber_length>0.093789916893817799</optimal_fiber_length>
+ <!--Resting length of the tendon-->
+ <tendon_slack_length>0.213419912931851</tendon_slack_length>
+ <!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+ <pennation_angle_at_optimal>0.087266460000000004</pennation_angle_at_optimal>
+ <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+ <max_contraction_velocity>10</max_contraction_velocity>
+ <!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
+ <ignore_tendon_compliance>true</ignore_tendon_compliance>
+ <!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
+ <ignore_activation_dynamics>false</ignore_activation_dynamics>
+ <!--Smaller value means activation can increase more rapidly. Default: 0.015 seconds.-->
+ <activation_time_constant>0.014999999999999999</activation_time_constant>
+ <!--Smaller value means activation can decrease more rapidly. Default: 0.060 seconds.-->
+ <deactivation_time_constant>0.059999999999999998</deactivation_time_constant>
+ <!--Value of activation in the default state returned by initSystem(). Default: 0.5.-->
+ <default_activation>0.01</default_activation>
+ <!--Scale factor for the width of the active force-length curve. Larger values make the curve wider. Default: 1.0.-->
+ <active_force_width_scale>1</active_force_width_scale>
+ <!--Use this property to define the linear damping force that is added to the total muscle fiber force. It is computed by multiplying this damping parameter by the normalized fiber velocity and the max isometric force. Default: 0.-->
+ <fiber_damping>0.01</fiber_damping>
+ <!--Tendon strain at a tension of 1 normalized force. Default: 0.049.-->
+ <tendon_strain_at_one_norm_force>0.049000000000000002</tendon_strain_at_one_norm_force>
+ <!--Make the passive fiber force 0. Default: false.-->
+ <ignore_passive_fiber_force>false</ignore_passive_fiber_force>
+ </DeGrooteFregly2016Muscle>
+ <DeGrooteFregly2016Muscle name="hamstrings_l">
+ <!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+ <min_control>0.01</min_control>
+ <!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+ <max_control>1</max_control>
+ <!--The set of points defining the path of the actuator.-->
+ <GeometryPath name="geometrypath">
+ <!--The set of points defining the path-->
+ <PathPointSet>
+ <objects>
+ <PathPoint name="bifemlh_l-P1">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.121645 -0.099055900000000002 -0.068467600000000003</location>
+ </PathPoint>
+ <PathPoint name="bifemlh_l-P2">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.029098599999999999 -0.034802399999999997 -0.028450900000000001</location>
+ </PathPoint>
+ <PathPoint name="bifemlh_l-P3">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.022621499999999999 -0.054427000000000003 -0.033158899999999998</location>
+ </PathPoint>
+ </objects>
+ <groups />
+ </PathPointSet>
+ <!--The wrap objects that are associated with this path-->
+ <PathWrapSet>
+ <objects />
+ <groups />
+ </PathWrapSet>
+ <!--Default appearance attributes for this GeometryPath-->
+ <Appearance>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
+ </Appearance>
+ </GeometryPath>
+ <!--Maximum isometric force that the fibers can generate-->
+ <max_isometric_force>2700</max_isometric_force>
+ <!--Optimal length of the muscle fibers-->
+ <optimal_fiber_length>0.10905928770854099</optimal_fiber_length>
+ <!--Resting length of the tendon-->
+ <tendon_slack_length>0.32617731920169202</tendon_slack_length>
+ <!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+ <pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+ <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+ <max_contraction_velocity>10</max_contraction_velocity>
+ <!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
+ <ignore_tendon_compliance>true</ignore_tendon_compliance>
+ <!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
+ <ignore_activation_dynamics>false</ignore_activation_dynamics>
+ <!--Smaller value means activation can increase more rapidly. Default: 0.015 seconds.-->
+ <activation_time_constant>0.014999999999999999</activation_time_constant>
+ <!--Smaller value means activation can decrease more rapidly. Default: 0.060 seconds.-->
+ <deactivation_time_constant>0.059999999999999998</deactivation_time_constant>
+ <!--Value of activation in the default state returned by initSystem(). Default: 0.5.-->
+ <default_activation>0.01</default_activation>
+ <!--Scale factor for the width of the active force-length curve. Larger values make the curve wider. Default: 1.0.-->
+ <active_force_width_scale>1</active_force_width_scale>
+ <!--Use this property to define the linear damping force that is added to the total muscle fiber force. It is computed by multiplying this damping parameter by the normalized fiber velocity and the max isometric force. Default: 0.-->
+ <fiber_damping>0.01</fiber_damping>
+ <!--Tendon strain at a tension of 1 normalized force. Default: 0.049.-->
+ <tendon_strain_at_one_norm_force>0.049000000000000002</tendon_strain_at_one_norm_force>
+ <!--Make the passive fiber force 0. Default: false.-->
+ <ignore_passive_fiber_force>false</ignore_passive_fiber_force>
+ </DeGrooteFregly2016Muscle>
+ <DeGrooteFregly2016Muscle name="bifemsh_l">
+ <!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+ <min_control>0.01</min_control>
+ <!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+ <max_control>1</max_control>
+ <!--The set of points defining the path of the actuator.-->
+ <GeometryPath name="geometrypath">
+ <!--The set of points defining the path-->
+ <PathPointSet>
+ <objects>
+ <PathPoint name="bifemsh_l-P1">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>0.0050137300000000001 -0.21167900000000001 -0.023464200000000001</location>
+ </PathPoint>
+ <PathPoint name="bifemsh_l-P2">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.029098599999999999 -0.034802399999999997 -0.028450900000000001</location>
+ </PathPoint>
+ <PathPoint name="bifemsh_l-P3">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.022621499999999999 -0.054427000000000003 -0.033158899999999998</location>
+ </PathPoint>
+ </objects>
+ <groups />
+ </PathPointSet>
+ <!--The wrap objects that are associated with this path-->
+ <PathWrapSet>
+ <objects />
+ <groups />
+ </PathWrapSet>
+ <!--Default appearance attributes for this GeometryPath-->
+ <Appearance>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
+ </Appearance>
+ </GeometryPath>
+ <!--Maximum isometric force that the fibers can generate-->
+ <max_isometric_force>804</max_isometric_force>
+ <!--Optimal length of the muscle fibers-->
+ <optimal_fiber_length>0.171872304562285</optimal_fiber_length>
+ <!--Resting length of the tendon-->
+ <tendon_slack_length>0.088419856104296701</tendon_slack_length>
+ <!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+ <pennation_angle_at_optimal>0.40142572999999998</pennation_angle_at_optimal>
+ <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+ <max_contraction_velocity>10</max_contraction_velocity>
+ <!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
+ <ignore_tendon_compliance>true</ignore_tendon_compliance>
+ <!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
+ <ignore_activation_dynamics>false</ignore_activation_dynamics>
+ <!--Smaller value means activation can increase more rapidly. Default: 0.015 seconds.-->
+ <activation_time_constant>0.014999999999999999</activation_time_constant>
+ <!--Smaller value means activation can decrease more rapidly. Default: 0.060 seconds.-->
+ <deactivation_time_constant>0.059999999999999998</deactivation_time_constant>
+ <!--Value of activation in the default state returned by initSystem(). Default: 0.5.-->
+ <default_activation>0.01</default_activation>
+ <!--Scale factor for the width of the active force-length curve. Larger values make the curve wider. Default: 1.0.-->
+ <active_force_width_scale>1</active_force_width_scale>
+ <!--Use this property to define the linear damping force that is added to the total muscle fiber force. It is computed by multiplying this damping parameter by the normalized fiber velocity and the max isometric force. Default: 0.-->
+ <fiber_damping>0.01</fiber_damping>
+ <!--Tendon strain at a tension of 1 normalized force. Default: 0.049.-->
+ <tendon_strain_at_one_norm_force>0.049000000000000002</tendon_strain_at_one_norm_force>
+ <!--Make the passive fiber force 0. Default: false.-->
+ <ignore_passive_fiber_force>false</ignore_passive_fiber_force>
+ </DeGrooteFregly2016Muscle>
+ <DeGrooteFregly2016Muscle name="glut_max_l">
+ <!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+ <min_control>0.01</min_control>
+ <!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+ <max_control>1</max_control>
+ <!--The set of points defining the path of the actuator.-->
+ <GeometryPath name="geometrypath">
+ <!--The set of points defining the path-->
+ <PathPointSet>
+ <objects>
+ <PathPoint name="glut_max_l-P1">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.127188 0.0084019400000000001 -0.045553000000000003</location>
+ </PathPoint>
+ <PathPoint name="glut_max_l-P2">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.12979499999999999 -0.058813600000000001 -0.080161499999999997</location>
+ </PathPoint>
+ <PathPoint name="glut_max_l-P3">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.045123499999999997 -0.058560300000000003 -0.025269199999999999</location>
+ </PathPoint>
+ <PathPoint name="glut_max_l-P4">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.015642799999999998 -0.101879 -0.042014999999999997</location>
+ </PathPoint>
+ </objects>
+ <groups />
+ </PathPointSet>
+ <!--The wrap objects that are associated with this path-->
+ <PathWrapSet>
+ <objects />
+ <groups />
+ </PathWrapSet>
+ <!--Default appearance attributes for this GeometryPath-->
+ <Appearance>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
+ </Appearance>
+ </GeometryPath>
+ <!--Maximum isometric force that the fibers can generate-->
+ <max_isometric_force>1944</max_isometric_force>
+ <!--Optimal length of the muscle fibers-->
+ <optimal_fiber_length>0.15477839388148101</optimal_fiber_length>
+ <!--Resting length of the tendon-->
+ <tendon_slack_length>0.072308835382489306</tendon_slack_length>
+ <!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+ <pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+ <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+ <max_contraction_velocity>10</max_contraction_velocity>
+ <!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
+ <ignore_tendon_compliance>true</ignore_tendon_compliance>
+ <!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
+ <ignore_activation_dynamics>false</ignore_activation_dynamics>
+ <!--Smaller value means activation can increase more rapidly. Default: 0.015 seconds.-->
+ <activation_time_constant>0.014999999999999999</activation_time_constant>
+ <!--Smaller value means activation can decrease more rapidly. Default: 0.060 seconds.-->
+ <deactivation_time_constant>0.059999999999999998</deactivation_time_constant>
+ <!--Value of activation in the default state returned by initSystem(). Default: 0.5.-->
+ <default_activation>0.01</default_activation>
+ <!--Scale factor for the width of the active force-length curve. Larger values make the curve wider. Default: 1.0.-->
+ <active_force_width_scale>1</active_force_width_scale>
+ <!--Use this property to define the linear damping force that is added to the total muscle fiber force. It is computed by multiplying this damping parameter by the normalized fiber velocity and the max isometric force. Default: 0.-->
+ <fiber_damping>0.01</fiber_damping>
+ <!--Tendon strain at a tension of 1 normalized force. Default: 0.049.-->
+ <tendon_strain_at_one_norm_force>0.049000000000000002</tendon_strain_at_one_norm_force>
+ <!--Make the passive fiber force 0. Default: false.-->
+ <ignore_passive_fiber_force>false</ignore_passive_fiber_force>
+ </DeGrooteFregly2016Muscle>
+ <DeGrooteFregly2016Muscle name="iliopsoas_l">
+ <!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+ <min_control>0.01</min_control>
+ <!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+ <max_control>1</max_control>
+ <!--The set of points defining the path of the actuator.-->
+ <GeometryPath name="geometrypath">
+ <!--The set of points defining the path-->
+ <PathPointSet>
+ <objects>
+ <PathPoint name="psoas_l-P1">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.062483400000000001 0.085661100000000004 -0.028495300000000001</location>
+ </PathPoint>
+ <PathPoint name="psoas_l-P2">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.022984600000000001 -0.055047199999999998 -0.074837100000000004</location>
+ </PathPoint>
+ <ConditionalPathPoint name="psoas_l-P3">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.027813299999999999 -0.077742000000000006 -0.080457299999999995</location>
+ <!--Path to a Component that satisfies the Socket 'coordinate' of type Coordinate (description: The coordinate whose value determines when the path point is active according to the specified range.).-->
+ <socket_coordinate>/jointset/hip_l/hip_flexion_l</socket_coordinate>
+ <!--The minimum and maximum values that the coordinate can range between, for which the PathPoint is active. Angular coordinates in radians.-->
+ <range>-1.5708 0.78539800000000004</range>
+ </ConditionalPathPoint>
+ <PathPoint name="psoas_l-P4">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>0.00160439 -0.050839200000000001 -0.0038104300000000001</location>
+ </PathPoint>
+ <PathPoint name="psoas_l-P5">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.0188516 -0.059863899999999998 -0.0104285</location>
+ </PathPoint>
+ </objects>
+ <groups />
+ </PathPointSet>
+ <!--The wrap objects that are associated with this path-->
+ <PathWrapSet>
+ <objects />
+ <groups />
+ </PathWrapSet>
+ <!--Default appearance attributes for this GeometryPath-->
+ <Appearance>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
+ </Appearance>
+ </GeometryPath>
+ <!--Maximum isometric force that the fibers can generate-->
+ <max_isometric_force>2342</max_isometric_force>
+ <!--Optimal length of the muscle fibers-->
+ <optimal_fiber_length>0.097499585002471204</optimal_fiber_length>
+ <!--Resting length of the tendon-->
+ <tendon_slack_length>0.15599933600395399</tendon_slack_length>
+ <!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+ <pennation_angle_at_optimal>0.13962633999999999</pennation_angle_at_optimal>
+ <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+ <max_contraction_velocity>10</max_contraction_velocity>
+ <!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
+ <ignore_tendon_compliance>true</ignore_tendon_compliance>
+ <!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
+ <ignore_activation_dynamics>false</ignore_activation_dynamics>
+ <!--Smaller value means activation can increase more rapidly. Default: 0.015 seconds.-->
+ <activation_time_constant>0.014999999999999999</activation_time_constant>
+ <!--Smaller value means activation can decrease more rapidly. Default: 0.060 seconds.-->
+ <deactivation_time_constant>0.059999999999999998</deactivation_time_constant>
+ <!--Value of activation in the default state returned by initSystem(). Default: 0.5.-->
+ <default_activation>0.01</default_activation>
+ <!--Scale factor for the width of the active force-length curve. Larger values make the curve wider. Default: 1.0.-->
+ <active_force_width_scale>1</active_force_width_scale>
+ <!--Use this property to define the linear damping force that is added to the total muscle fiber force. It is computed by multiplying this damping parameter by the normalized fiber velocity and the max isometric force. Default: 0.-->
+ <fiber_damping>0.01</fiber_damping>
+ <!--Tendon strain at a tension of 1 normalized force. Default: 0.049.-->
+ <tendon_strain_at_one_norm_force>0.049000000000000002</tendon_strain_at_one_norm_force>
+ <!--Make the passive fiber force 0. Default: false.-->
+ <ignore_passive_fiber_force>false</ignore_passive_fiber_force>
+ </DeGrooteFregly2016Muscle>
+ <DeGrooteFregly2016Muscle name="rect_fem_l">
+ <!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+ <min_control>0.01</min_control>
+ <!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+ <max_control>1</max_control>
+ <!--The set of points defining the path of the actuator.-->
+ <GeometryPath name="geometrypath">
+ <!--The set of points defining the path-->
+ <PathPointSet>
+ <objects>
+ <PathPoint name="rect_fem_l-P1">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/pelvis</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.028489299999999999 -0.030034499999999999 -0.095444399999999999</location>
+ </PathPoint>
+ <ConditionalPathPoint name="rect_fem_l-P2">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>0.033491699999999999 -0.40410600000000002 -0.00190522</location>
+ <!--Path to a Component that satisfies the Socket 'coordinate' of type Coordinate (description: The coordinate whose value determines when the path point is active according to the specified range.).-->
+ <socket_coordinate>/jointset/knee_l/knee_angle_l</socket_coordinate>
+ <!--The minimum and maximum values that the coordinate can range between, for which the PathPoint is active. Angular coordinates in radians.-->
+ <range>-2.6179899999999998 -1.45997</range>
+ </ConditionalPathPoint>
+ <MovingPathPoint name="rect_fem_l-P3">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
+ <!--Path to a Component that satisfies the Socket 'x_coordinate' of type Coordinate (description: The x_location function is a function of this coordinate's value.).-->
+ <socket_x_coordinate>/jointset/knee_l/knee_angle_l</socket_x_coordinate>
+ <!--Path to a Component that satisfies the Socket 'y_coordinate' of type Coordinate (description: The y_location function is a function of this coordinate's value.).-->
+ <socket_y_coordinate>/jointset/knee_l/knee_angle_l</socket_y_coordinate>
+ <!--Path to a Component that satisfies the Socket 'z_coordinate' of type Coordinate (description: The z_location function is a function of this coordinate's value.).-->
+ <socket_z_coordinate>/jointset/knee_l/knee_angle_l</socket_z_coordinate>
+ <!--Function defining the x component of the point's location expressed in the Frame of the Point.-->
+ <x_location>
+ <MultiplierFunction>
+ <function>
+ <SimmSpline>
+ <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
+ <y> 0.0155805 0.0179938 0.0275081 0.0296564 0.0307615 0.0365695 0.0422074 0.0450902 0.048391 0.0534299 0.0617576 0.0617669 0.0617762 0.0633083 0.066994 0.0733035 0.0573481</y>
+ </SimmSpline>
+ </function>
+ <scale>0.96673215203466201</scale>
+ </MultiplierFunction>
+ </x_location>
+ <!--Function defining the y component of the point's location expressed in the Frame of the Point.-->
+ <y_location>
+ <MultiplierFunction>
+ <function>
+ <SimmSpline>
+ <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
+ <y> 0.0234116 0.0237613 0.0251141 0.0252795 0.0253146 0.0249184 0.0242373 0.0238447 0.0234197 0.0227644 0.020984 0.0209814 0.0209788 0.0205225 0.0191754 0.0159554 -0.0673774</y>
+ </SimmSpline>
+ </function>
+ <scale>0.96673215203466201</scale>
+ </MultiplierFunction>
+ </y_location>
+ <!--Function defining the z component of the point's location expressed in the Frame of the Point.-->
+ <z_location>
+ <MultiplierFunction>
+ <function>
+ <SimmSpline>
+ <x> -2.0944 0.1745</x>
+ <y> -0.0014 -0.0014</y>
+ </SimmSpline>
+ </function>
+ <scale>0.96673215203466201</scale>
+ </MultiplierFunction>
+ </z_location>
+ </MovingPathPoint>
+ </objects>
+ <groups />
+ </PathPointSet>
+ <!--The wrap objects that are associated with this path-->
+ <PathWrapSet>
+ <objects />
+ <groups />
+ </PathWrapSet>
+ <!--Default appearance attributes for this GeometryPath-->
+ <Appearance>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
+ </Appearance>
+ </GeometryPath>
+ <!--Maximum isometric force that the fibers can generate-->
+ <max_isometric_force>1169</max_isometric_force>
+ <!--Optimal length of the muscle fibers-->
+ <optimal_fiber_length>0.114154396713697</optimal_fiber_length>
+ <!--Resting length of the tendon-->
+ <tendon_slack_length>0.31041985071268602</tendon_slack_length>
+ <!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+ <pennation_angle_at_optimal>0.087266460000000004</pennation_angle_at_optimal>
+ <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+ <max_contraction_velocity>10</max_contraction_velocity>
+ <!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
+ <ignore_tendon_compliance>true</ignore_tendon_compliance>
+ <!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
+ <ignore_activation_dynamics>false</ignore_activation_dynamics>
+ <!--Smaller value means activation can increase more rapidly. Default: 0.015 seconds.-->
+ <activation_time_constant>0.014999999999999999</activation_time_constant>
+ <!--Smaller value means activation can decrease more rapidly. Default: 0.060 seconds.-->
+ <deactivation_time_constant>0.059999999999999998</deactivation_time_constant>
+ <!--Value of activation in the default state returned by initSystem(). Default: 0.5.-->
+ <default_activation>0.01</default_activation>
+ <!--Scale factor for the width of the active force-length curve. Larger values make the curve wider. Default: 1.0.-->
+ <active_force_width_scale>1</active_force_width_scale>
+ <!--Use this property to define the linear damping force that is added to the total muscle fiber force. It is computed by multiplying this damping parameter by the normalized fiber velocity and the max isometric force. Default: 0.-->
+ <fiber_damping>0.01</fiber_damping>
+ <!--Tendon strain at a tension of 1 normalized force. Default: 0.049.-->
+ <tendon_strain_at_one_norm_force>0.049000000000000002</tendon_strain_at_one_norm_force>
+ <!--Make the passive fiber force 0. Default: false.-->
+ <ignore_passive_fiber_force>false</ignore_passive_fiber_force>
+ </DeGrooteFregly2016Muscle>
+ <DeGrooteFregly2016Muscle name="vasti_l">
+ <!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+ <min_control>0.01</min_control>
+ <!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+ <max_control>1</max_control>
+ <!--The set of points defining the path of the actuator.-->
+ <GeometryPath name="geometrypath">
+ <!--The set of points defining the path-->
+ <PathPointSet>
+ <objects>
+ <PathPoint name="vas_int_l-P1">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>0.029079600000000001 -0.19292799999999999 -0.031085100000000001</location>
+ </PathPoint>
+ <PathPoint name="vas_int_l-P2">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>0.033591999999999997 -0.20897199999999999 -0.028578200000000002</location>
+ </PathPoint>
+ <ConditionalPathPoint name="vas_int_l-P3">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>0.0343942 -0.40410600000000002 -0.0055151000000000002</location>
+ <!--Path to a Component that satisfies the Socket 'coordinate' of type Coordinate (description: The coordinate whose value determines when the path point is active according to the specified range.).-->
+ <socket_coordinate>/jointset/knee_l/knee_angle_l</socket_coordinate>
+ <!--The minimum and maximum values that the coordinate can range between, for which the PathPoint is active. Angular coordinates in radians.-->
+ <range>-2.6179899999999998 -1.4199999999999999</range>
+ </ConditionalPathPoint>
+ <MovingPathPoint name="vas_int_l-P4">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
+ <!--Path to a Component that satisfies the Socket 'x_coordinate' of type Coordinate (description: The x_location function is a function of this coordinate's value.).-->
+ <socket_x_coordinate>/jointset/knee_l/knee_angle_l</socket_x_coordinate>
+ <!--Path to a Component that satisfies the Socket 'y_coordinate' of type Coordinate (description: The y_location function is a function of this coordinate's value.).-->
+ <socket_y_coordinate>/jointset/knee_l/knee_angle_l</socket_y_coordinate>
+ <!--Path to a Component that satisfies the Socket 'z_coordinate' of type Coordinate (description: The z_location function is a function of this coordinate's value.).-->
+ <socket_z_coordinate>/jointset/knee_l/knee_angle_l</socket_z_coordinate>
+ <!--Function defining the x component of the point's location expressed in the Frame of the Point.-->
+ <x_location>
+ <MultiplierFunction>
+ <function>
+ <SimmSpline>
+ <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
+ <y> 0.0082733 0.0106866 0.0202042 0.022353 0.0234583 0.0292715 0.0349465 0.037871 0.0412569 0.0465287 0.0554632 0.0554735 0.0554837 0.0571717 0.061272 0.0684368 0.0648818</y>
+ </SimmSpline>
+ </function>
+ <scale>0.96673215203466201</scale>
+ </MultiplierFunction>
+ </x_location>
+ <!--Function defining the y component of the point's location expressed in the Frame of the Point.-->
+ <y_location>
+ <MultiplierFunction>
+ <function>
+ <SimmSpline>
+ <x> -2.0944 -1.99997 -1.5708 -1.45752 -1.39626 -1.0472 -0.698132 -0.526391 -0.349066 -0.174533 0 0.00017453 0.00034907 0.0279253 0.0872665 0.174533 2.0944</x>
+ <y> 0.025599 0.0259487 0.0273124 0.0274796 0.0275151 0.0271363 0.0265737 0.0263073 0.0261187 0.0260129 0.0252923 0.0252911 0.0252898 0.0250526 0.0242191 0.0218288 -0.0685706</y>
+ </SimmSpline>
+ </function>
+ <scale>0.96673215203466201</scale>
+ </MultiplierFunction>
+ </y_location>
+ <!--Function defining the z component of the point's location expressed in the Frame of the Point.-->
+ <z_location>
+ <MultiplierFunction>
+ <function>
+ <SimmSpline>
+ <x> -2.0944 2.0944</x>
+ <y> -0.0018 -0.0018</y>
+ </SimmSpline>
+ </function>
+ <scale>0.96673215203466201</scale>
+ </MultiplierFunction>
+ </z_location>
+ </MovingPathPoint>
+ </objects>
+ <groups />
+ </PathPointSet>
+ <!--The wrap objects that are associated with this path-->
+ <PathWrapSet>
+ <objects />
+ <groups />
+ </PathWrapSet>
+ <!--Default appearance attributes for this GeometryPath-->
+ <Appearance>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
+ </Appearance>
+ </GeometryPath>
+ <!--Maximum isometric force that the fibers can generate-->
+ <max_isometric_force>5000</max_isometric_force>
+ <!--Optimal length of the muscle fibers-->
+ <optimal_fiber_length>0.107708763662917</optimal_fiber_length>
+ <!--Resting length of the tendon-->
+ <tendon_slack_length>0.116768379298115</tendon_slack_length>
+ <!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+ <pennation_angle_at_optimal>0.052359879999999998</pennation_angle_at_optimal>
+ <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+ <max_contraction_velocity>10</max_contraction_velocity>
+ <!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
+ <ignore_tendon_compliance>true</ignore_tendon_compliance>
+ <!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
+ <ignore_activation_dynamics>false</ignore_activation_dynamics>
+ <!--Smaller value means activation can increase more rapidly. Default: 0.015 seconds.-->
+ <activation_time_constant>0.014999999999999999</activation_time_constant>
+ <!--Smaller value means activation can decrease more rapidly. Default: 0.060 seconds.-->
+ <deactivation_time_constant>0.059999999999999998</deactivation_time_constant>
+ <!--Value of activation in the default state returned by initSystem(). Default: 0.5.-->
+ <default_activation>0.01</default_activation>
+ <!--Scale factor for the width of the active force-length curve. Larger values make the curve wider. Default: 1.0.-->
+ <active_force_width_scale>1</active_force_width_scale>
+ <!--Use this property to define the linear damping force that is added to the total muscle fiber force. It is computed by multiplying this damping parameter by the normalized fiber velocity and the max isometric force. Default: 0.-->
+ <fiber_damping>0.01</fiber_damping>
+ <!--Tendon strain at a tension of 1 normalized force. Default: 0.049.-->
+ <tendon_strain_at_one_norm_force>0.049000000000000002</tendon_strain_at_one_norm_force>
+ <!--Make the passive fiber force 0. Default: false.-->
+ <ignore_passive_fiber_force>false</ignore_passive_fiber_force>
+ </DeGrooteFregly2016Muscle>
+ <DeGrooteFregly2016Muscle name="gastroc_l">
+ <!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+ <min_control>0.01</min_control>
+ <!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+ <max_control>1</max_control>
+ <!--The set of points defining the path of the actuator.-->
+ <GeometryPath name="geometrypath">
+ <!--The set of points defining the path-->
+ <PathPointSet>
+ <objects>
+ <PathPoint name="med_gas_l-P1">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.019052199999999998 -0.39397900000000002 0.023564499999999999</location>
+ </PathPoint>
+ <ConditionalPathPoint name="med_gas_l-P2">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/femur_l</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.030082399999999999 -0.403304 0.025870799999999999</location>
+ <!--Path to a Component that satisfies the Socket 'coordinate' of type Coordinate (description: The coordinate whose value determines when the path point is active according to the specified range.).-->
+ <socket_coordinate>/jointset/knee_l/knee_angle_l</socket_coordinate>
+ <!--The minimum and maximum values that the coordinate can range between, for which the PathPoint is active. Angular coordinates in radians.-->
+ <range>-0.78539800000000004 0.17453299999999999</range>
+ </ConditionalPathPoint>
+ <PathPoint name="med_gas_l-P3">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>0 0.028331700000000001 0.0048437999999999997</location>
+ </PathPoint>
+ </objects>
+ <groups />
+ </PathPointSet>
+ <!--The wrap objects that are associated with this path-->
+ <PathWrapSet>
+ <objects />
+ <groups />
+ </PathWrapSet>
+ <!--Default appearance attributes for this GeometryPath-->
+ <Appearance>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
+ </Appearance>
+ </GeometryPath>
+ <!--Maximum isometric force that the fibers can generate-->
+ <max_isometric_force>2500</max_isometric_force>
+ <!--Optimal length of the muscle fibers-->
+ <optimal_fiber_length>0.086926079311056698</optimal_fiber_length>
+ <!--Resting length of the tendon-->
+ <tendon_slack_length>0.34770431724422701</tendon_slack_length>
+ <!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+ <pennation_angle_at_optimal>0.29670596999999999</pennation_angle_at_optimal>
+ <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+ <max_contraction_velocity>10</max_contraction_velocity>
+ <!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
+ <ignore_tendon_compliance>true</ignore_tendon_compliance>
+ <!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
+ <ignore_activation_dynamics>false</ignore_activation_dynamics>
+ <!--Smaller value means activation can increase more rapidly. Default: 0.015 seconds.-->
+ <activation_time_constant>0.014999999999999999</activation_time_constant>
+ <!--Smaller value means activation can decrease more rapidly. Default: 0.060 seconds.-->
+ <deactivation_time_constant>0.059999999999999998</deactivation_time_constant>
+ <!--Value of activation in the default state returned by initSystem(). Default: 0.5.-->
+ <default_activation>0.01</default_activation>
+ <!--Scale factor for the width of the active force-length curve. Larger values make the curve wider. Default: 1.0.-->
+ <active_force_width_scale>1</active_force_width_scale>
+ <!--Use this property to define the linear damping force that is added to the total muscle fiber force. It is computed by multiplying this damping parameter by the normalized fiber velocity and the max isometric force. Default: 0.-->
+ <fiber_damping>0.01</fiber_damping>
+ <!--Tendon strain at a tension of 1 normalized force. Default: 0.049.-->
+ <tendon_strain_at_one_norm_force>0.049000000000000002</tendon_strain_at_one_norm_force>
+ <!--Make the passive fiber force 0. Default: false.-->
+ <ignore_passive_fiber_force>false</ignore_passive_fiber_force>
+ </DeGrooteFregly2016Muscle>
+ <DeGrooteFregly2016Muscle name="soleus_l">
+ <!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+ <min_control>0.01</min_control>
+ <!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+ <max_control>1</max_control>
+ <!--The set of points defining the path of the actuator.-->
+ <GeometryPath name="geometrypath">
+ <!--The set of points defining the path-->
+ <PathPointSet>
+ <objects>
+ <PathPoint name="soleus_l-P1">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>-0.0023201599999999999 -0.1482 -0.0068637999999999998</location>
+ </PathPoint>
+ <PathPoint name="soleus_l-P2">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>0 0.028331700000000001 0.0048437999999999997</location>
+ </PathPoint>
+ </objects>
+ <groups />
+ </PathPointSet>
+ <!--The wrap objects that are associated with this path-->
+ <PathWrapSet>
+ <objects />
+ <groups />
+ </PathWrapSet>
+ <!--Default appearance attributes for this GeometryPath-->
+ <Appearance>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
+ </Appearance>
+ </GeometryPath>
+ <!--Maximum isometric force that the fibers can generate-->
+ <max_isometric_force>5137</max_isometric_force>
+ <!--Optimal length of the muscle fibers-->
+ <optimal_fiber_length>0.048170551124502803</optimal_fiber_length>
+ <!--Resting length of the tendon-->
+ <tendon_slack_length>0.24085275562251399</tendon_slack_length>
+ <!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+ <pennation_angle_at_optimal>0.43633231</pennation_angle_at_optimal>
+ <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+ <max_contraction_velocity>10</max_contraction_velocity>
+ <!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
+ <ignore_tendon_compliance>true</ignore_tendon_compliance>
+ <!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
+ <ignore_activation_dynamics>false</ignore_activation_dynamics>
+ <!--Smaller value means activation can increase more rapidly. Default: 0.015 seconds.-->
+ <activation_time_constant>0.014999999999999999</activation_time_constant>
+ <!--Smaller value means activation can decrease more rapidly. Default: 0.060 seconds.-->
+ <deactivation_time_constant>0.059999999999999998</deactivation_time_constant>
+ <!--Value of activation in the default state returned by initSystem(). Default: 0.5.-->
+ <default_activation>0.01</default_activation>
+ <!--Scale factor for the width of the active force-length curve. Larger values make the curve wider. Default: 1.0.-->
+ <active_force_width_scale>1</active_force_width_scale>
+ <!--Use this property to define the linear damping force that is added to the total muscle fiber force. It is computed by multiplying this damping parameter by the normalized fiber velocity and the max isometric force. Default: 0.-->
+ <fiber_damping>0.01</fiber_damping>
+ <!--Tendon strain at a tension of 1 normalized force. Default: 0.049.-->
+ <tendon_strain_at_one_norm_force>0.049000000000000002</tendon_strain_at_one_norm_force>
+ <!--Make the passive fiber force 0. Default: false.-->
+ <ignore_passive_fiber_force>false</ignore_passive_fiber_force>
+ </DeGrooteFregly2016Muscle>
+ <DeGrooteFregly2016Muscle name="tib_ant_l">
+ <!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+ <min_control>0.01</min_control>
+ <!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+ <max_control>1</max_control>
+ <!--The set of points defining the path of the actuator.-->
+ <GeometryPath name="geometrypath">
+ <!--The set of points defining the path-->
+ <PathPointSet>
+ <objects>
+ <PathPoint name="tib_ant_l-P1">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>0.0173045 -0.156997 -0.0111174</location>
+ </PathPoint>
+ <PathPoint name="tib_ant_l-P2">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/tibia_l</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>0.0318055 -0.38195600000000002 0.0171112</location>
+ </PathPoint>
+ <PathPoint name="tib_ant_l-P3">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The frame in which this path point is defined.).-->
+ <socket_parent_frame>/bodyset/calcn_l</socket_parent_frame>
+ <!--The fixed location of the path point expressed in its parent frame.-->
+ <location>0.10656400000000001 0.016267899999999998 0.027874699999999999</location>
+ </PathPoint>
+ </objects>
+ <groups />
+ </PathPointSet>
+ <!--The wrap objects that are associated with this path-->
+ <PathWrapSet>
+ <objects />
+ <groups />
+ </PathWrapSet>
+ <!--Default appearance attributes for this GeometryPath-->
+ <Appearance>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>0.80000000000000004 0.10000000000000001 0.10000000000000001</color>
+ </Appearance>
+ </GeometryPath>
+ <!--Maximum isometric force that the fibers can generate-->
+ <max_isometric_force>3000</max_isometric_force>
+ <!--Optimal length of the muscle fibers-->
+ <optimal_fiber_length>0.093789916893817799</optimal_fiber_length>
+ <!--Resting length of the tendon-->
+ <tendon_slack_length>0.213419912931851</tendon_slack_length>
+ <!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+ <pennation_angle_at_optimal>0.087266460000000004</pennation_angle_at_optimal>
+ <!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+ <max_contraction_velocity>10</max_contraction_velocity>
+ <!--Compute muscle dynamics ignoring tendon compliance. Tendon is assumed to be rigid.-->
+ <ignore_tendon_compliance>true</ignore_tendon_compliance>
+ <!--Compute muscle dynamics ignoring activation dynamics. Activation is equivalent to excitation.-->
+ <ignore_activation_dynamics>false</ignore_activation_dynamics>
+ <!--Smaller value means activation can increase more rapidly. Default: 0.015 seconds.-->
+ <activation_time_constant>0.014999999999999999</activation_time_constant>
+ <!--Smaller value means activation can decrease more rapidly. Default: 0.060 seconds.-->
+ <deactivation_time_constant>0.059999999999999998</deactivation_time_constant>
+ <!--Value of activation in the default state returned by initSystem(). Default: 0.5.-->
+ <default_activation>0.01</default_activation>
+ <!--Scale factor for the width of the active force-length curve. Larger values make the curve wider. Default: 1.0.-->
+ <active_force_width_scale>1</active_force_width_scale>
+ <!--Use this property to define the linear damping force that is added to the total muscle fiber force. It is computed by multiplying this damping parameter by the normalized fiber velocity and the max isometric force. Default: 0.-->
+ <fiber_damping>0.01</fiber_damping>
+ <!--Tendon strain at a tension of 1 normalized force. Default: 0.049.-->
+ <tendon_strain_at_one_norm_force>0.049000000000000002</tendon_strain_at_one_norm_force>
+ <!--Make the passive fiber force 0. Default: false.-->
+ <ignore_passive_fiber_force>false</ignore_passive_fiber_force>
+ </DeGrooteFregly2016Muscle>
+ </components>
+ <!--The model's ground reference frame.-->
+ <Ground name="ground">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ </Ground>
+ <!--List of bodies that make up this model.-->
+ <BodySet name="bodyset">
+ <objects>
+ <Body name="pelvis">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
+ <attached_geometry>
+ <Mesh name="pelvis_geom_1">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.96574000000000004 0.96574000000000004 0.98599599999999998</scale_factors>
+ <!--Default appearance attributes for this Geometry-->
+ <Appearance>
+ <!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
+ <opacity>1</opacity>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>1 1 1</color>
+ </Appearance>
+ <!--Name of geometry file.-->
+ <mesh_file>r_pelvis.vtp</mesh_file>
+ </Mesh>
+ <Mesh name="pelvis_geom_2">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.96574000000000004 0.96574000000000004 0.98599599999999998</scale_factors>
+ <!--Default appearance attributes for this Geometry-->
+ <Appearance>
+ <!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
+ <opacity>1</opacity>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>1 1 1</color>
+ </Appearance>
+ <!--Name of geometry file.-->
+ <mesh_file>l_pelvis.vtp</mesh_file>
+ </Mesh>
+ <Mesh name="pelvis_geom_3">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.96574000000000004 0.96574000000000004 0.98599599999999998</scale_factors>
+ <!--Default appearance attributes for this Geometry-->
+ <Appearance>
+ <!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
+ <opacity>1</opacity>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>1 1 1</color>
+ </Appearance>
+ <!--Name of geometry file.-->
+ <mesh_file>sacrum.vtp</mesh_file>
+ </Mesh>
+ </attached_geometry>
+ <!--The mass of the body (kg)-->
+ <mass>9.7143336091723995</mass>
+ <!--The location (Vec3) of the mass center in the body frame.-->
+ <mass_center>-0.0682778 0 0</mass_center>
+ <!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
+ <inertia>0.081492884605030597 0.081492884605030597 0.044542759153066699 0 0 0</inertia>
+ </Body>
+ <Body name="femur_l">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
+ <attached_geometry>
+ <Mesh name="femur_l_geom_1">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>1.00275 1.00275 1.00275</scale_factors>
+ <!--Default appearance attributes for this Geometry-->
+ <Appearance>
+ <!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
+ <opacity>1</opacity>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>1 1 1</color>
+ </Appearance>
+ <!--Name of geometry file.-->
+ <mesh_file>femur_l.vtp</mesh_file>
+ </Mesh>
+ </attached_geometry>
+ <!--The mass of the body (kg)-->
+ <mass>7.6723191502382804</mass>
+ <!--The location (Vec3) of the mass center in the body frame.-->
+ <mass_center>0 -0.17046700000000001 0</mass_center>
+ <!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
+ <inertia>0.11105547289013901 0.029111628815861601 0.117110028170931 0 0 0</inertia>
+ </Body>
+ <Body name="femur_r">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
+ <attached_geometry>
+ <Mesh name="femur_r_geom_1">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>1.00275 1.00275 1.00275</scale_factors>
+ <!--Default appearance attributes for this Geometry-->
+ <Appearance>
+ <!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
+ <opacity>1</opacity>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>1 1 1</color>
+ </Appearance>
+ <!--Name of geometry file.-->
+ <mesh_file>femur_r.vtp</mesh_file>
+ </Mesh>
+ </attached_geometry>
+ <!--The mass of the body (kg)-->
+ <mass>7.6723191502382804</mass>
+ <!--The location (Vec3) of the mass center in the body frame.-->
+ <mass_center>0 -0.17046700000000001 0</mass_center>
+ <!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
+ <inertia>0.11105547289013901 0.029111628815861601 0.117110028170931 0 0 0</inertia>
+ </Body>
+ <Body name="tibia_l">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
+ <attached_geometry>
+ <Mesh name="tibia_l_geom_1">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.96673200000000004 0.96673200000000004 0.96673200000000004</scale_factors>
+ <!--Default appearance attributes for this Geometry-->
+ <Appearance>
+ <!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
+ <opacity>1</opacity>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>1 1 1</color>
+ </Appearance>
+ <!--Name of geometry file.-->
+ <mesh_file>tibia_l.vtp</mesh_file>
+ </Mesh>
+ <Mesh name="fibula_l_geom_1">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.96673200000000004 0.96673200000000004 0.96673200000000004</scale_factors>
+ <!--Default appearance attributes for this Geometry-->
+ <Appearance>
+ <!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
+ <opacity>1</opacity>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>1 1 1</color>
+ </Appearance>
+ <!--Name of geometry file.-->
+ <mesh_file>l_fibula.vtp</mesh_file>
+ </Mesh>
+ </attached_geometry>
+ <!--The mass of the body (kg)-->
+ <mass>3.0581550357482099</mass>
+ <!--The location (Vec3) of the mass center in the body frame.-->
+ <mass_center>0 -0.18048900000000001 0</mass_center>
+ <!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
+ <inertia>0.038852699659735403 0.0039315231798541803 0.039392320488342902 0 0 0</inertia>
+ </Body>
+ <Body name="tibia_r">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
+ <attached_geometry>
+ <Mesh name="tibia_r_geom_1">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.96673200000000004 0.96673200000000004 0.96673200000000004</scale_factors>
+ <!--Default appearance attributes for this Geometry-->
+ <Appearance>
+ <!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
+ <opacity>1</opacity>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>1 1 1</color>
+ </Appearance>
+ <!--Name of geometry file.-->
+ <mesh_file>tibia_r.vtp</mesh_file>
+ </Mesh>
+ <Mesh name="fibula_r_geom_1">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.96673200000000004 0.96673200000000004 0.96673200000000004</scale_factors>
+ <!--Default appearance attributes for this Geometry-->
+ <Appearance>
+ <!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
+ <opacity>1</opacity>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>1 1 1</color>
+ </Appearance>
+ <!--Name of geometry file.-->
+ <mesh_file>r_fibula.vtp</mesh_file>
+ </Mesh>
+ </attached_geometry>
+ <!--The mass of the body (kg)-->
+ <mass>3.0581550357482099</mass>
+ <!--The location (Vec3) of the mass center in the body frame.-->
+ <mass_center>0 -0.18048900000000001 0</mass_center>
+ <!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
+ <inertia>0.038852699659735403 0.0039315231798541803 0.039392320488342902 0 0 0</inertia>
+ </Body>
+ <Body name="talus_l">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
+ <attached_geometry>
+ <Mesh name="talus_l_geom_1">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.91392399999999996 0.91392399999999996 0.91392399999999996</scale_factors>
+ <!--Default appearance attributes for this Geometry-->
+ <Appearance>
+ <!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
+ <opacity>1</opacity>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>1 1 1</color>
+ </Appearance>
+ <!--Name of geometry file.-->
+ <mesh_file>l_talus.vtp</mesh_file>
+ </Mesh>
+ </attached_geometry>
+ <!--The mass of the body (kg)-->
+ <mass>0.082485638186061</mass>
+ <!--The location (Vec3) of the mass center in the body frame.-->
+ <mass_center>0 0 0</mass_center>
+ <!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
+ <inertia>0.00068896770091018196 0.00068896770091018196 0.00068896770091018196 0 0 0</inertia>
+ </Body>
+ <Body name="talus_r">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
+ <attached_geometry>
+ <Mesh name="talus_r_geom_1">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.91392399999999996 0.91392399999999996 0.91392399999999996</scale_factors>
+ <!--Default appearance attributes for this Geometry-->
+ <Appearance>
+ <!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
+ <opacity>1</opacity>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>1 1 1</color>
+ </Appearance>
+ <!--Name of geometry file.-->
+ <mesh_file>r_talus.vtp</mesh_file>
+ </Mesh>
+ </attached_geometry>
+ <!--The mass of the body (kg)-->
+ <mass>0.082485638186061</mass>
+ <!--The location (Vec3) of the mass center in the body frame.-->
+ <mass_center>0 0 0</mass_center>
+ <!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
+ <inertia>0.00068896770091018196 0.00068896770091018196 0.00068896770091018196 0 0 0</inertia>
+ </Body>
+ <Body name="calcn_l">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
+ <attached_geometry>
+ <Mesh name="calc_l_geom_1">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.91392399999999996 0.91392399999999996 0.91392399999999996</scale_factors>
+ <!--Default appearance attributes for this Geometry-->
+ <Appearance>
+ <!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
+ <opacity>1</opacity>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>1 1 1</color>
+ </Appearance>
+ <!--Name of geometry file.-->
+ <mesh_file>l_foot.vtp</mesh_file>
+ </Mesh>
+ </attached_geometry>
+ <!--The mass of the body (kg)-->
+ <mass>1.03107047732576</mass>
+ <!--The location (Vec3) of the mass center in the body frame.-->
+ <mass_center>0.091392399999999999 0.0274177 0</mass_center>
+ <!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
+ <inertia>0.00096455478127425401 0.0026869740335497098 0.0028247675737317502 0 0 0</inertia>
+ </Body>
+ <Body name="calcn_r">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
+ <attached_geometry>
+ <Mesh name="calc_r_geom_1">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.91392399999999996 0.91392399999999996 0.91392399999999996</scale_factors>
+ <!--Default appearance attributes for this Geometry-->
+ <Appearance>
+ <!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
+ <opacity>1</opacity>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>1 1 1</color>
+ </Appearance>
+ <!--Name of geometry file.-->
+ <mesh_file>r_foot.vtp</mesh_file>
+ </Mesh>
+ </attached_geometry>
+ <!--The mass of the body (kg)-->
+ <mass>1.03107047732576</mass>
+ <!--The location (Vec3) of the mass center in the body frame.-->
+ <mass_center>0.091392399999999999 0.0274177 0</mass_center>
+ <!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
+ <inertia>0.00096455478127425401 0.0026869740335497098 0.0028247675737317502 0 0 0</inertia>
+ </Body>
+ <Body name="toes_l">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
+ <attached_geometry>
+ <Mesh name="toes_l_geom_1">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.91392399999999996 0.91392399999999996 0.91392399999999996</scale_factors>
+ <!--Default appearance attributes for this Geometry-->
+ <Appearance>
+ <!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
+ <opacity>1</opacity>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>1 1 1</color>
+ </Appearance>
+ <!--Name of geometry file.-->
+ <mesh_file>l_bofoot.vtp</mesh_file>
+ </Mesh>
+ </attached_geometry>
+ <!--The mass of the body (kg)-->
+ <mass>0.17866389231100799</mass>
+ <!--The location (Vec3) of the mass center in the body frame.-->
+ <mass_center>0.031621799999999999 0.0054835500000000002 0.0159937</mass_center>
+ <!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
+ <inertia>6.8896770091018202e-05 0.000137793540182036 6.8896770091018202e-05 0 0 0</inertia>
+ </Body>
+ <Body name="toes_r">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
+ <attached_geometry>
+ <Mesh name="toes_r_geom_1">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.91392399999999996 0.91392399999999996 0.91392399999999996</scale_factors>
+ <!--Default appearance attributes for this Geometry-->
+ <Appearance>
+ <!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
+ <opacity>1</opacity>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>1 1 1</color>
+ </Appearance>
+ <!--Name of geometry file.-->
+ <mesh_file>r_bofoot.vtp</mesh_file>
+ </Mesh>
+ </attached_geometry>
+ <!--The mass of the body (kg)-->
+ <mass>0.17866389231100799</mass>
+ <!--The location (Vec3) of the mass center in the body frame.-->
+ <mass_center>0.031621799999999999 0.0054835500000000002 -0.0159937</mass_center>
+ <!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
+ <inertia>6.8896770091018202e-05 0.000137793540182036 6.8896770091018202e-05 0 0 0</inertia>
+ </Body>
+ <Body name="torso">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--List of geometry attached to this Frame. Note, the geometry are treated as fixed to the frame and they share the transform of the frame when visualized-->
+ <attached_geometry>
+ <Mesh name="torso_geom_1">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.96574000000000004 0.96574000000000004 0.98599599999999998</scale_factors>
+ <!--Default appearance attributes for this Geometry-->
+ <Appearance>
+ <!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
+ <opacity>1</opacity>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>1 1 1</color>
+ </Appearance>
+ <!--Name of geometry file.-->
+ <mesh_file>hat_spine.vtp</mesh_file>
+ </Mesh>
+ <Mesh name="torso_geom_2">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.96574000000000004 0.96574000000000004 0.98599599999999998</scale_factors>
+ <!--Default appearance attributes for this Geometry-->
+ <Appearance>
+ <!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
+ <opacity>1</opacity>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>1 1 1</color>
+ </Appearance>
+ <!--Name of geometry file.-->
+ <mesh_file>hat_jaw.vtp</mesh_file>
+ </Mesh>
+ <Mesh name="torso_geom_3">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.96574000000000004 0.96574000000000004 0.98599599999999998</scale_factors>
+ <!--Default appearance attributes for this Geometry-->
+ <Appearance>
+ <!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
+ <opacity>1</opacity>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>1 1 1</color>
+ </Appearance>
+ <!--Name of geometry file.-->
+ <mesh_file>hat_skull.vtp</mesh_file>
+ </Mesh>
+ <Mesh name="torso_geom_4">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.96574000000000004 0.96574000000000004 0.98599599999999998</scale_factors>
+ <!--Default appearance attributes for this Geometry-->
+ <Appearance>
+ <!--The opacity used to display the geometry between 0:transparent, 1:opaque.-->
+ <opacity>1</opacity>
+ <!--The color, (red, green, blue), [0, 1], used to display the geometry. -->
+ <color>1 1 1</color>
+ </Appearance>
+ <!--Name of geometry file.-->
+ <mesh_file>hat_ribs_scap.vtp</mesh_file>
+ </Mesh>
+ </attached_geometry>
+ <!--The mass of the body (kg)-->
+ <mass>28.240278003208999</mass>
+ <!--The location (Vec3) of the mass center in the body frame.-->
+ <mass_center>-0.0289722 0.30903700000000001 0</mass_center>
+ <!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
+ <inertia>1.14043571182129 0.593400919285897 1.14043571182129 0 0 0</inertia>
+ </Body>
+ </objects>
+ <groups />
+ </BodySet>
+ <!--List of joints that connect the bodies.-->
+ <JointSet name="jointset">
+ <objects>
+ <PlanarJoint name="groundPelvis">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
+ <socket_parent_frame>ground_offset</socket_parent_frame>
+ <!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
+ <socket_child_frame>pelvis_offset</socket_child_frame>
+ <!--List containing the generalized coordinates (q's) that parameterize this joint.-->
+ <coordinates>
+ <Coordinate name="pelvis_tilt">
+ <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+ <range>-1.570796326794897 1.570796326794897</range>
+ </Coordinate>
+ <Coordinate name="pelvis_tx">
+ <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+ <range>-5 5</range>
+ </Coordinate>
+ <Coordinate name="pelvis_ty">
+ <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+ <range>-3 3</range>
+ </Coordinate>
+ </coordinates>
+ <!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
+ <frames>
+ <PhysicalOffsetFrame name="ground_offset">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
+ <socket_parent>/ground</socket_parent>
+ <!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
+ <translation>0 0 0</translation>
+ <!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
+ <orientation>0 0 0</orientation>
+ </PhysicalOffsetFrame>
+ <PhysicalOffsetFrame name="pelvis_offset">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
+ <socket_parent>/bodyset/pelvis</socket_parent>
+ <!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
+ <translation>0 0 0</translation>
+ <!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
+ <orientation>0 0 0</orientation>
+ </PhysicalOffsetFrame>
+ </frames>
+ </PlanarJoint>
+ <PinJoint name="hip_l">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
+ <socket_parent_frame>pelvis_offset</socket_parent_frame>
+ <!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
+ <socket_child_frame>femur_l_offset</socket_child_frame>
+ <!--List containing the generalized coordinates (q's) that parameterize this joint.-->
+ <coordinates>
+ <Coordinate name="hip_flexion_l">
+ <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+ <range>-1.0471975511965981 2.0943951023931948</range>
+ </Coordinate>
+ </coordinates>
+ <!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
+ <frames>
+ <PhysicalOffsetFrame name="pelvis_offset">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
+ <socket_parent>/bodyset/pelvis</socket_parent>
+ <!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
+ <translation>-0.068277800171117897 -0.063835397331130098 -0.082330694005868801</translation>
+ <!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
+ <orientation>0 0 0</orientation>
+ </PhysicalOffsetFrame>
+ <PhysicalOffsetFrame name="femur_l_offset">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
+ <socket_parent>/bodyset/femur_l</socket_parent>
+ <!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
+ <translation>0 0 0</translation>
+ <!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
+ <orientation>0 0 0</orientation>
+ </PhysicalOffsetFrame>
+ </frames>
+ </PinJoint>
+ <PinJoint name="hip_r">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
+ <socket_parent_frame>pelvis_offset</socket_parent_frame>
+ <!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
+ <socket_child_frame>femur_r_offset</socket_child_frame>
+ <!--List containing the generalized coordinates (q's) that parameterize this joint.-->
+ <coordinates>
+ <Coordinate name="hip_flexion_r">
+ <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+ <range>-1.0471975511965981 2.0943951023931948</range>
+ </Coordinate>
+ </coordinates>
+ <!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
+ <frames>
+ <PhysicalOffsetFrame name="pelvis_offset">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
+ <socket_parent>/bodyset/pelvis</socket_parent>
+ <!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
+ <translation>-0.068277800171117897 -0.063835397331130098 0.082330694005868801</translation>
+ <!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
+ <orientation>0 0 0</orientation>
+ </PhysicalOffsetFrame>
+ <PhysicalOffsetFrame name="femur_r_offset">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
+ <socket_parent>/bodyset/femur_r</socket_parent>
+ <!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
+ <translation>0 0 0</translation>
+ <!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
+ <orientation>0 0 0</orientation>
+ </PhysicalOffsetFrame>
+ </frames>
+ </PinJoint>
+ <PinJoint name="knee_l">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
+ <socket_parent_frame>femur_l_offset</socket_parent_frame>
+ <!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
+ <socket_child_frame>tibia_l_offset</socket_child_frame>
+ <!--List containing the generalized coordinates (q's) that parameterize this joint.-->
+ <coordinates>
+ <Coordinate name="knee_angle_l">
+ <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+ <range>-2.0943951023931948 0.174532925199433</range>
+ </Coordinate>
+ </coordinates>
+ <!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
+ <frames>
+ <PhysicalOffsetFrame name="femur_l_offset">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
+ <socket_parent>/bodyset/femur_l</socket_parent>
+ <!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
+ <translation>-0.0045122123214679797 -0.39690724592144699 0</translation>
+ <!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
+ <orientation>0 0 0</orientation>
+ </PhysicalOffsetFrame>
+ <PhysicalOffsetFrame name="tibia_l_offset">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
+ <socket_parent>/bodyset/tibia_l</socket_parent>
+ <!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
+ <translation>0 0 0</translation>
+ <!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
+ <orientation>0 0 0</orientation>
+ </PhysicalOffsetFrame>
+ </frames>
+ </PinJoint>
+ <PinJoint name="knee_r">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
+ <socket_parent_frame>femur_r_offset</socket_parent_frame>
+ <!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
+ <socket_child_frame>tibia_r_offset</socket_child_frame>
+ <!--List containing the generalized coordinates (q's) that parameterize this joint.-->
+ <coordinates>
+ <Coordinate name="knee_angle_r">
+ <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+ <range>-2.0943951023931948 0.174532925199433</range>
+ </Coordinate>
+ </coordinates>
+ <!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
+ <frames>
+ <PhysicalOffsetFrame name="femur_r_offset">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
+ <socket_parent>/bodyset/femur_r</socket_parent>
+ <!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
+ <translation>-0.0045122123214679797 -0.39690724592144699 0</translation>
+ <!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
+ <orientation>0 0 0</orientation>
+ </PhysicalOffsetFrame>
+ <PhysicalOffsetFrame name="tibia_r_offset">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
+ <socket_parent>/bodyset/tibia_r</socket_parent>
+ <!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
+ <translation>0 0 0</translation>
+ <!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
+ <orientation>0 0 0</orientation>
+ </PhysicalOffsetFrame>
+ </frames>
+ </PinJoint>
+ <PinJoint name="ankle_l">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
+ <socket_parent_frame>tibia_l_offset</socket_parent_frame>
+ <!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
+ <socket_child_frame>talus_l_offset</socket_child_frame>
+ <!--List containing the generalized coordinates (q's) that parameterize this joint.-->
+ <coordinates>
+ <Coordinate name="ankle_angle_l">
+ <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+ <range>-0.69813170079773201 0.52359877559829904</range>
+ </Coordinate>
+ </coordinates>
+ <!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
+ <frames>
+ <PhysicalOffsetFrame name="tibia_l_offset">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
+ <socket_parent>/bodyset/tibia_l</socket_parent>
+ <!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
+ <translation>0 -0.41569482537490499 0</translation>
+ <!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
+ <orientation>0 0 0</orientation>
+ </PhysicalOffsetFrame>
+ <PhysicalOffsetFrame name="talus_l_offset">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
+ <socket_parent>/bodyset/talus_l</socket_parent>
+ <!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
+ <translation>0 0 0</translation>
+ <!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
+ <orientation>0 0 0</orientation>
+ </PhysicalOffsetFrame>
+ </frames>
+ </PinJoint>
+ <PinJoint name="ankle_r">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
+ <socket_parent_frame>tibia_r_offset</socket_parent_frame>
+ <!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
+ <socket_child_frame>talus_r_offset</socket_child_frame>
+ <!--List containing the generalized coordinates (q's) that parameterize this joint.-->
+ <coordinates>
+ <Coordinate name="ankle_angle_r">
+ <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+ <range>-0.69813170079773201 0.52359877559829904</range>
+ </Coordinate>
+ </coordinates>
+ <!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
+ <frames>
+ <PhysicalOffsetFrame name="tibia_r_offset">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
+ <socket_parent>/bodyset/tibia_r</socket_parent>
+ <!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
+ <translation>0 -0.41569482537490499 0</translation>
+ <!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
+ <orientation>0 0 0</orientation>
+ </PhysicalOffsetFrame>
+ <PhysicalOffsetFrame name="talus_r_offset">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
+ <socket_parent>/bodyset/talus_r</socket_parent>
+ <!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
+ <translation>0 0 0</translation>
+ <!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
+ <orientation>0 0 0</orientation>
+ </PhysicalOffsetFrame>
+ </frames>
+ </PinJoint>
+ <WeldJoint name="subtalar_l">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
+ <socket_parent_frame>talus_l_offset</socket_parent_frame>
+ <!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
+ <socket_child_frame>calcn_l_offset</socket_child_frame>
+ <!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
+ <frames>
+ <PhysicalOffsetFrame name="talus_l_offset">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
+ <socket_parent>/bodyset/talus_l</socket_parent>
+ <!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
+ <translation>-0.044572091911732101 -0.038339127654237401 -0.0072382810732195598</translation>
+ <!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
+ <orientation>0 0 0</orientation>
+ </PhysicalOffsetFrame>
+ <PhysicalOffsetFrame name="calcn_l_offset">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
+ <socket_parent>/bodyset/calcn_l</socket_parent>
+ <!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
+ <translation>0 0 0</translation>
+ <!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
+ <orientation>0 0 0</orientation>
+ </PhysicalOffsetFrame>
+ </frames>
+ </WeldJoint>
+ <WeldJoint name="subtalar_r">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
+ <socket_parent_frame>talus_r_offset</socket_parent_frame>
+ <!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
+ <socket_child_frame>calcn_r_offset</socket_child_frame>
+ <!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
+ <frames>
+ <PhysicalOffsetFrame name="talus_r_offset">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
+ <socket_parent>/bodyset/talus_r</socket_parent>
+ <!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
+ <translation>-0.044572091911732101 -0.038339127654237401 0.0072382810732195598</translation>
+ <!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
+ <orientation>0 0 0</orientation>
+ </PhysicalOffsetFrame>
+ <PhysicalOffsetFrame name="calcn_r_offset">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
+ <socket_parent>/bodyset/calcn_r</socket_parent>
+ <!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
+ <translation>0 0 0</translation>
+ <!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
+ <orientation>0 0 0</orientation>
+ </PhysicalOffsetFrame>
+ </frames>
+ </WeldJoint>
+ <WeldJoint name="mtp_l">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
+ <socket_parent_frame>calcn_l_offset</socket_parent_frame>
+ <!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
+ <socket_child_frame>toes_l_offset</socket_child_frame>
+ <!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
+ <frames>
+ <PhysicalOffsetFrame name="calcn_l_offset">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
+ <socket_parent>/bodyset/calcn_l</socket_parent>
+ <!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
+ <translation>0.16340967877419901 -0.00182784875586352 -0.00098703832816630292</translation>
+ <!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
+ <orientation>0 0 0</orientation>
+ </PhysicalOffsetFrame>
+ <PhysicalOffsetFrame name="toes_l_offset">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
+ <socket_parent>/bodyset/toes_l</socket_parent>
+ <!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
+ <translation>0 0 0</translation>
+ <!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
+ <orientation>0 0 0</orientation>
+ </PhysicalOffsetFrame>
+ </frames>
+ </WeldJoint>
+ <WeldJoint name="mtp_r">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
+ <socket_parent_frame>calcn_r_offset</socket_parent_frame>
+ <!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
+ <socket_child_frame>toes_r_offset</socket_child_frame>
+ <!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
+ <frames>
+ <PhysicalOffsetFrame name="calcn_r_offset">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
+ <socket_parent>/bodyset/calcn_r</socket_parent>
+ <!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
+ <translation>0.16340967877419901 -0.00182784875586352 0.00098703832816630292</translation>
+ <!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
+ <orientation>0 0 0</orientation>
+ </PhysicalOffsetFrame>
+ <PhysicalOffsetFrame name="toes_r_offset">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
+ <socket_parent>/bodyset/toes_r</socket_parent>
+ <!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
+ <translation>0 0 0</translation>
+ <!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
+ <orientation>0 0 0</orientation>
+ </PhysicalOffsetFrame>
+ </frames>
+ </WeldJoint>
+ <PinJoint name="lumbar">
+ <!--Path to a Component that satisfies the Socket 'parent_frame' of type PhysicalFrame (description: The parent frame for the joint.).-->
+ <socket_parent_frame>pelvis_offset</socket_parent_frame>
+ <!--Path to a Component that satisfies the Socket 'child_frame' of type PhysicalFrame (description: The child frame for the joint.).-->
+ <socket_child_frame>torso_offset</socket_child_frame>
+ <!--List containing the generalized coordinates (q's) that parameterize this joint.-->
+ <coordinates>
+ <Coordinate name="lumbar">
+ <!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+ <range>-1.570796326794897 1.570796326794897</range>
+ </Coordinate>
+ </coordinates>
+ <!--Physical offset frames owned by the Joint that are typically used to satisfy the owning Joint's parent and child frame connections (sockets). PhysicalOffsetFrames are often used to describe the fixed transformation from a Body's origin to another location of interest on the Body (e.g., the joint center). When the joint is deleted, so are the PhysicalOffsetFrame components in this list.-->
+ <frames>
+ <PhysicalOffsetFrame name="pelvis_offset">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
+ <socket_parent>/bodyset/pelvis</socket_parent>
+ <!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
+ <translation>-0.0972499926058214 0.078707789447611198 0</translation>
+ <!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
+ <orientation>0 0 0</orientation>
+ </PhysicalOffsetFrame>
+ <PhysicalOffsetFrame name="torso_offset">
+ <!--The geometry used to display the axes of this Frame.-->
+ <FrameGeometry name="frame_geometry">
+ <!--Path to a Component that satisfies the Socket 'frame' of type Frame.-->
+ <socket_frame>..</socket_frame>
+ <!--Scale factors in X, Y, Z directions respectively.-->
+ <scale_factors>0.20000000000000001 0.20000000000000001 0.20000000000000001</scale_factors>
+ </FrameGeometry>
+ <!--Path to a Component that satisfies the Socket 'parent' of type C (description: The parent frame to this frame.).-->
+ <socket_parent>/bodyset/torso</socket_parent>
+ <!--Translational offset (in meters) of this frame's origin from the parent frame's origin, expressed in the parent frame.-->
+ <translation>0 0 0</translation>
+ <!--Orientation offset (in radians) of this frame in its parent frame, expressed as a frame-fixed x-y-z rotation sequence.-->
+ <orientation>0 0 0</orientation>
+ </PhysicalOffsetFrame>
+ </frames>
+ </PinJoint>
+ </objects>
+ <groups />
+ </JointSet>
+ <!--Controllers that provide the control inputs for Actuators.-->
+ <ControllerSet name="controllerset">
+ <objects />
+ <groups />
+ </ControllerSet>
+ <!--Forces in the model (includes Actuators).-->
+ <ForceSet name="forceset">
+ <objects />
+ <groups />
+ </ForceSet>
+ <!--Geometry to be used in contact forces.-->
+ <ContactGeometrySet name="contactgeometryset">
+ <objects>
+ <ContactSphere name="heel_r">
+ <!--Path to a Component that satisfies the Socket 'frame' of type PhysicalFrame (description: The frame to which this geometry is attached.).-->
+ <socket_frame>/bodyset/calcn_r</socket_frame>
+ <!--Location of geometry center in the PhysicalFrame.-->
+ <location>0.031307527581931796 0.010435842527310599 0</location>
+ <!--Radius of the sphere (default: 0).-->
+ <radius>0.035000000000000003</radius>
+ </ContactSphere>
+ <ContactSphere name="heel_l">
+ <!--Path to a Component that satisfies the Socket 'frame' of type PhysicalFrame (description: The frame to which this geometry is attached.).-->
+ <socket_frame>/bodyset/calcn_l</socket_frame>
+ <!--Location of geometry center in the PhysicalFrame.-->
+ <location>0.031307527581931796 0.010435842527310599 0</location>
+ <!--Radius of the sphere (default: 0).-->
+ <radius>0.035000000000000003</radius>
+ </ContactSphere>
+ <ContactSphere name="front_r">
+ <!--Path to a Component that satisfies the Socket 'frame' of type PhysicalFrame (description: The frame to which this geometry is attached.).-->
+ <socket_frame>/bodyset/calcn_r</socket_frame>
+ <!--Location of geometry center in the PhysicalFrame.-->
+ <location>0.17740932296428019 -0.015653763790965898 0.0052179212636552993</location>
+ <!--Radius of the sphere (default: 0).-->
+ <radius>0.014999999999999999</radius>
+ </ContactSphere>
+ <ContactSphere name="front_l">
+ <!--Path to a Component that satisfies the Socket 'frame' of type PhysicalFrame (description: The frame to which this geometry is attached.).-->
+ <socket_frame>/bodyset/calcn_l</socket_frame>
+ <!--Location of geometry center in the PhysicalFrame.-->
+ <location>0.17740932296428019 -0.015653763790965898 -0.0052179212636552993</location>
+ <!--Radius of the sphere (default: 0).-->
+ <radius>0.014999999999999999</radius>
+ </ContactSphere>
+ <ContactHalfSpace name="floor">
+ <!--Path to a Component that satisfies the Socket 'frame' of type PhysicalFrame (description: The frame to which this geometry is attached.).-->
+ <socket_frame>/ground</socket_frame>
+ <!--Orientation of geometry in the PhysicalFrame (body-fixed XYZ Euler angles).-->
+ <orientation>0 0 -1.5707963267948966</orientation>
+ </ContactHalfSpace>
+ </objects>
+ </ContactGeometrySet>
+ </Model>
+</OpenSimDocument>
diff --git a/Bindings/Python/examples/Moco/example2DWalking/example2DWalking.py b/Bindings/Python/examples/Moco/example2DWalking/example2DWalking.py
new file mode 100644
index 0000000000..182ac5d089
--- /dev/null
+++ b/Bindings/Python/examples/Moco/example2DWalking/example2DWalking.py
@@ -0,0 +1,384 @@
+# -*- coding: utf-8 -*-
+"""
+MOCO: WALKING 2D EXAMPLE - TRACKING & PREDICTION
+
+@author: Prasanna Sritharan, June 2022
+
+This is a Python implementation of an example optimal control
+problem (2D walking) orginally created in C++ by Antoine Falisse
+(see: example2DWalking.cpp) and adapted for Matlab by Brian Umberger
+(see: example2DWalking.m).
+"""
+
+from math import pi
+import opensim as osim
+
+
+
+
+"""
+gait_tracking():
+Set up a coordinate tracking problem where the goal is to minimize the
+difference between provided and simulated coordinate values and speeds (and
+ground reaction forces), as well as to minimize an effort cost (squared
+controls). The provided data represents one step. Endpoint constraints
+enforce periodicity of the coordinate values (except for pelvis tx) and speeds,
+coordinate actuator controls, and muscle activations.
+"""
+def gait_tracking():
+
+
+
+ # **********************************
+ # DEFINE THE OPTIMAL CONTROL PROBLEM
+
+ # Create tracking problem
+ track = osim.MocoTrack()
+ track.setName("gait_tracking")
+
+ # Construct a ModelProcessor and set it on the tool
+ modelProcessor = osim.ModelProcessor("2D_gait.osim")
+ track.setModel(modelProcessor)
+
+
+ # Get the coordinates into a TableProcessor
+ tableProcessor = osim.TableProcessor("referenceCoordinates.sto")
+ tableProcessor.append(osim.TabOpLowPassFilter(6.0))
+
+ # Set the coordinates as the reference states
+ track.setStatesReference(tableProcessor)
+ track.set_allow_unused_references(True)
+
+ # Only coordinates are provided so derive to get speeds and track these too
+ track.set_track_reference_position_derivatives(True)
+
+ # use coordinates and speeds for initial guess
+ track.set_apply_tracked_states_to_guess(True)
+
+ # Define the global state tracking weight
+ track.set_states_global_tracking_weight(1.0)
+
+
+ # Set initial time, final time and mesh interval
+ track.set_initial_time(0.0)
+ track.set_final_time(0.47008941)
+
+ # Call initialize() to receive a pre-configured MocoStudy object based on the
+ # settings above. Use this to customize the problem beyond the MocoTrack
+ # interface.
+ study = track.initialize()
+
+ # Get a writable reference to the MocoProblem from the MocoStudy to perform
+ # more customisation
+ problem = study.updProblem()
+
+
+
+ # **********************************
+ # SET GOALS
+
+ # Symmetry:
+ # This goal allows us to simulate only one step with left-right symmetry that
+ # we can then double to create two steps, one on each leg (IFO>IFS>CFO>CFS).
+ # Note that this is not actually a full gait cycle (IFO>IFS>CFO>CFS>IFO).
+ symmetryGoal = osim.MocoPeriodicityGoal("symmetry_goal")
+ problem.addGoal(symmetryGoal)
+
+ # Enforce periodic symmetry
+ model = modelProcessor.process()
+ model.initSystem()
+ state_names = [model.getStateVariableNames().getitem(sn) for sn in range(model.getNumStateVariables())]
+ for sn in state_names:
+
+ # Symmetric coordinate values and speeds (except for pelvis_tx value):
+ # Here we constrain final coordinate values of one leg to match the initial
+ # value of the other leg. Manually add pelvis_tx speed later.
+ if "jointset" in sn:
+ if "_r" in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn, sn.replace("_r", "_l")))
+ elif "_l" in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn, sn.replace("_l", "_r")))
+ elif "pelvis_tx" not in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn))
+
+ # Symmetric muscle activations:
+ # Here, we constrain final muscle activation values of one leg to match the
+ # initial activation values of the other leg.
+ elif "activation" in sn:
+ if "_r" in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn, sn.replace("_r", "_l")))
+ elif "_l" in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn, sn.replace("_l", "_r")))
+
+
+ # The pelvis_tx speed has periodic symmetry
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair("/jointset/groundPelvis/pelvis_tx/speed"))
+
+ # Lumbar control has periodic symmetry. The other controls don't need
+ # symmetry enforced as they are all muscle excitations. Their behaviour will be
+ # contstrained by the periodicity imposed on their respective activations.
+ symmetryGoal.addControlPair(osim.MocoPeriodicityGoalPair('/lumbarAct'))
+
+
+ # Effort:
+ # Get a reference to the MocoControlGoal that is added to a MocoTrack
+ # problem by default and adjust the weight
+ effort = osim.MocoControlGoal.safeDownCast(problem.updGoal("control_effort"))
+ effort.setWeight(10.0)
+
+
+ # Ground contact:
+ # Track the left and right vertical and fore-aft GRFs
+ contact_r = ["contactHeel_r", "contactFront_r"]
+ contact_l = ["contactHeel_l", "contactFront_l"]
+ grf_tracking_weight = 1
+ if grf_tracking_weight != 0:
+
+ # Create a contact tracking goal
+ contactTracking = osim.MocoContactTrackingGoal("contact", grf_tracking_weight)
+ contactTracking.setExternalLoadsFile("referenceGRF.xml")
+
+ # Add contact groups. The sum of all the contact forces in each group
+ # should track the force data from a single ExternalForce
+ contactTracking.addContactGroup(contact_r, "Right_GRF")
+ contactTracking.addContactGroup(contact_l, "Left_GRF")
+
+ # 2D walking problem so consider force errors in the sagittal plane only
+ contactTracking.setProjection("plane")
+ contactTracking.setProjectionVector(osim.Vec3(0, 0, 1))
+
+ # add the goal to the MocoProblem
+ problem.addGoal(contactTracking)
+
+
+
+ # **********************************
+ # SET BOUNDS
+
+ # Coordinate bounds as dict
+ coord_bounds = {}
+ coord_bounds["/jointset/groundPelvis/pelvis_tilt/value"] = [-20*pi/180, -10*pi/180]
+ coord_bounds["/jointset/groundPelvis/pelvis_tx/value"] = [0.0, 1.0]
+ coord_bounds["/jointset/groundPelvis/pelvis_ty/value"] = [0.75, 1.25]
+ coord_bounds["/jointset/hip_r/hip_flexion_r/value"] = [-10*pi/180, 60*pi/180]
+ coord_bounds["/jointset/hip_l/hip_flexion_l/value"] = [-10*pi/180, 60*pi/180]
+ coord_bounds["/jointset/knee_r/knee_angle_r/value"] = [-50*pi/180, 0]
+ coord_bounds["/jointset/knee_l/knee_angle_l/value"] = [-50*pi/180, 0]
+ coord_bounds["/jointset/ankle_r/ankle_angle_r/value"] = [-15*pi/180, 25*pi/180]
+ coord_bounds["/jointset/ankle_l/ankle_angle_l/value"] = [-15*pi/180, 25*pi/180]
+ coord_bounds["/jointset/lumbar/lumbar/value"] = [0, 20*pi/180]
+
+ # Set coordinate bounds
+ for bnd in coord_bounds:
+ problem.setStateInfo(bnd, coord_bounds[bnd]);
+
+
+
+ # **********************************
+ # SOLVE
+
+ # The Solver is pre-configured, however, uncomment below to configure further
+ # if desired. This gets a writable reference to the Solver, for custom
+ # configuration.
+ # solver = study.updSolver()
+ # solver.set_num_mesh_intervals(50);
+ # solver.set_verbosity(2);
+ # solver.set_optim_solver("ipopt");
+ # solver.set_optim_convergence_tolerance(1e-4);
+ # solver.set_optim_constraint_tolerance(1e-4);
+ # solver.set_optim_max_iterations(1000);
+
+
+ # Solve the problem for a single step
+ solution = study.solve()
+
+
+ # Create two mirrored steps from the single step solution, see API
+ # documentation for use of this utility function
+ two_steps_solution = osim.createPeriodicTrajectory(solution)
+ two_steps_solution.write("walk_2D_two_steps_tracking_solution.sto")
+
+ # Also extract the predicted ground forces, see API documentation for use of
+ # this utility function
+ contact_forces_table = osim.createExternalLoadsTableForGait(model, two_steps_solution, contact_r, contact_l)
+ osim.STOFileAdapter().write(contact_forces_table, "walk_2D_two_steps_tracking_ground_forces.sto")
+
+
+ return study, solution, two_steps_solution
+
+
+
+
+"""
+gait_prediction(tracking_solution):
+Set up a gait prediction problem where the goal is to minimize effort
+(squared controls) divided by distance traveled while enforcing symmetry of
+the walking cycle and a prescribed average gait speed through endpoint
+constraints. The solution of the coordinate tracking problem is used as an
+initial guess for the prediction.
+"""
+def gait_prediction(tracking_solution):
+
+
+
+ # **********************************
+ # DEFINE THE OPTIMAL CONTROL PROBLEM
+
+ # Create predcition problem
+ study = osim.MocoStudy()
+ study.setName("gait_prediciton")
+
+ # Get a writable reference to the MocoProblem from the MocoStudy to
+ # customise the problem settings
+ problem = study.updProblem()
+
+ # Construct a ModelProcessor and set it on the Problem
+ modelProcessor = osim.ModelProcessor("2D_gait.osim")
+ problem.setModelProcessor(modelProcessor)
+
+
+
+ # **********************************
+ # SET GOALS
+
+ # Symmetry: This goal allows us to simulate only one step with left-right
+ # symmetry that we can then double to create two steps, one on each leg
+ # (IFO>IFS>CFO>CFS). Note that this is not actually a full gait cycle
+ # (IFO>IFS>CFO>CFS>IFO)
+ symmetryGoal = osim.MocoPeriodicityGoal("symmetry_goal")
+ problem.addGoal(symmetryGoal)
+
+
+ # Enforce periodic symmetry
+ model = modelProcessor.process()
+ model.initSystem()
+ state_names = [model.getStateVariableNames().getitem(sn) for sn in range(model.getNumStateVariables())]
+ for sn in state_names:
+
+ # Symmetric coordinate values and speeds (except for pelvis_tx value):
+ # Here we constrain final coordinate values of one leg to match the initial
+ # value of the other leg. Manually add pelvis_tx speed later.
+ if "jointset" in sn:
+ if "_r" in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn, sn.replace("_r", "_l")))
+ elif "_l" in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn, sn.replace("_l", "_r")))
+ elif "pelvis_tx" not in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn))
+
+ # Symmetric muscle activations:
+ # Here, we constrain final muscle activation values of one leg to match the
+ # initial activation values of the other leg.
+ elif "activation" in sn:
+ if "_r" in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn, sn.replace("_r", "_l")))
+ elif "_l" in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn, sn.replace("_l", "_r")))
+
+ # The pelvis_tx speed has periodic symmetry
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair("/jointset/groundPelvis/pelvis_tx/speed"))
+
+ # Lumbar control has periodic symmetry. The other controls don't need
+ # symmetry enforces as they are all muscle excitations. Their behaviour will be
+ # modulated by the periodicity imposed on their respective activations.
+ symmetryGoal.addControlPair(osim.MocoPeriodicityGoalPair('/lumbarAct'))
+
+ # Specify the desired average walk speed, add as a goal
+ speedGoal = osim.MocoAverageSpeedGoal('avg_speed')
+ speedGoal.set_desired_average_speed(1.2)
+ problem.addGoal(speedGoal)
+
+ # Minimise total "effort" over the distance, i.e. minimise sum of the absolute
+ # values of all controls raised to a given exponent, integrated over the phase.
+ # In a MocoTrack problem, this is automatically added, however, in this
+ # predictive problem, we have created a MocoStudy from scratch, so we need to
+ # add this goal manually to the Problem. The second input argument to the
+ # constructor is the weight applied to this goal. We also normalise the effort
+ # by the distance travelled.
+ effortGoal = osim.MocoControlGoal('effort', 10)
+ effortGoal.setExponent(3)
+ effortGoal.setDivideByDisplacement(True)
+ problem.addGoal(effortGoal)
+
+
+
+ # **********************************
+ # SET BOUNDS
+
+ # set time bounds
+ problem.setTimeBounds(0, [0.4, 0.6])
+
+
+ # Coordinate bounds as dict
+ coord_bounds = {}
+ coord_bounds["/jointset/groundPelvis/pelvis_tilt/value"] = [-20*pi/180, -10*pi/180]
+ coord_bounds["/jointset/groundPelvis/pelvis_tx/value"] = [0.0, 1.0]
+ coord_bounds["/jointset/groundPelvis/pelvis_ty/value"] = [0.75, 1.25]
+ coord_bounds["/jointset/hip_r/hip_flexion_r/value"] = [-10*pi/180, 60*pi/180]
+ coord_bounds["/jointset/hip_l/hip_flexion_l/value"] = [-10*pi/180, 60*pi/180]
+ coord_bounds["/jointset/knee_r/knee_angle_r/value"] = [-50*pi/180, 0]
+ coord_bounds["/jointset/knee_l/knee_angle_l/value"] = [-50*pi/180, 0]
+ coord_bounds["/jointset/ankle_r/ankle_angle_r/value"] = [-15*pi/180, 25*pi/180]
+ coord_bounds["/jointset/ankle_l/ankle_angle_l/value"] = [-15*pi/180, 25*pi/180]
+ coord_bounds["/jointset/lumbar/lumbar/value"] = [0, 20*pi/180]
+
+ # Set coordinate bounds
+ for bnd in coord_bounds:
+ problem.setStateInfo(bnd, coord_bounds[bnd])
+
+
+
+ # **********************************
+ # SOLVE
+
+ # Configure the solver. In the tracking problem, the solver was pre-configured,
+ # using MocoTrack, however, as we have created a MocoStudy from scratch, we
+ # need to initialise the MocoSolver and configure it.
+ solver = study.initCasADiSolver()
+ solver.set_num_mesh_intervals(50)
+ solver.set_verbosity(2)
+ solver.set_optim_solver("ipopt")
+ solver.set_optim_convergence_tolerance(1e-4)
+ solver.set_optim_constraint_tolerance(1e-4)
+ solver.set_optim_max_iterations(1000)
+
+ # Set the tracking solution for one step as the initial guess
+ solver.setGuess(tracking_solution)
+
+
+ # Solve the problem for a single step
+ solution = study.solve()
+
+
+ # Create two mirrored steps from the single step solution, see API
+ # documentation for use of this utility function
+ two_steps_solution = osim.createPeriodicTrajectory(solution)
+ two_steps_solution.write("walk_2D_two_steps_prediction_solution.sto")
+
+ # Also extract the predicted ground forces, see API documentation for use of
+ # this utility function
+ contact_r = ["contactHeel_r", "contactFront_r"]
+ contact_l = ["contactHeel_l", "contactFront_l"]
+ contact_forces_table = osim.createExternalLoadsTableForGait(model, two_steps_solution, contact_r, contact_l)
+ osim.STOFileAdapter().write(contact_forces_table, "walk_2D_two_steps_prediction_ground_forces.sto")
+
+
+ return study, solution, two_steps_solution
+
+
+
+# %% TRACKING PROBLEM
+
+# Solve the problem and visualise
+tracking_study, tracking_solution, tracking_two_steps_solution = gait_tracking()
+tracking_study.visualize(tracking_two_steps_solution)
+
+
+
+# %% PREDICTION PROBLEM
+
+# Solve the problem and visualise (uses tracking_solution as initial guess)
+prediction_study, prediction_solution, prediction_two_steps_solution = gait_prediction(tracking_solution)
+prediction_study.visualize(prediction_two_steps_solution)
+
+
diff --git a/Bindings/Python/examples/Moco/example2DWalking/example2DWalkingMetabolics.py b/Bindings/Python/examples/Moco/example2DWalking/example2DWalkingMetabolics.py
new file mode 100644
index 0000000000..13c6fad8d6
--- /dev/null
+++ b/Bindings/Python/examples/Moco/example2DWalking/example2DWalkingMetabolics.py
@@ -0,0 +1,206 @@
+# -*- coding: utf-8 -*-
+"""
+MOCO: WALKING 2D EXAMPLE - COORDINATE TRACKING, MINIMISE METABOLIC COST
+
+@author: Prasanna Sritharan, June 2022
+
+This is a Python implementation of an example optimal control
+problem (2D walking) orginally created in C++ by Antoine Falisse
+(see: example2DWalkingMetabolics.cpp) and adapted for Matlab by Brian Umberger
+(see: example2DWalkingMetabolics.m).
+
+This example features a tracking simulation of walking that includes
+minimisation of the metabolic cost of transport computed using a smooth
+approximation of the metabolic energy model of Bhargava et al (2004).
+
+Set a coordinate tracking problem where the goal is to minimize the
+difference between provided and simulated coordinate values and speeds
+as well as to minimize an effort cost (squared controls) and a metabolic
+cost (metabolic energy normalized by distance traveled and body mass;
+the metabolics model is based on a smooth approximation of the
+phenomenological model described by Bhargava et al. (2004)). The provided
+data represents half a gait cycle. Endpoint constraints enforce periodicity
+of the coordinate values (except for pelvis tx) and speeds, coordinate
+actuator controls, and muscle activations.
+"""
+
+
+from math import pi
+import opensim as osim
+
+
+
+# %% SET THE MODEL AND METABOLICS ANALYSIS
+
+# Get the OpenSim model
+model = osim.Model("2D_gait.osim")
+
+# Add a component to calculate metabolics
+metabolics = osim.Bhargava2004SmoothedMuscleMetabolics()
+metabolics.setName("metabolics")
+metabolics.set_use_smoothing(True)
+
+# Add muscles to metabolics component
+leg = ["r", "l"]
+musclist = ["hamstrings", "bifemsh", "glut_max", "iliopsoas", "rect_fem",
+ "vasti", "gastroc", "soleus", "tib_ant"]
+for mc in [m + "_" + l for m in musclist for l in leg]:
+ metabolics.addMuscle(mc, osim.Muscle.safeDownCast(model.getComponent(mc)))
+
+# Add metabolics component to model
+model.addComponent(metabolics)
+model.finalizeConnections()
+
+
+
+# %% DEFINE THE OPTIMAL CONTROL PROBLEM
+
+# Create the tracking problem
+track = osim.MocoTrack()
+track.setName("gait_tracking_met_cost")
+
+# Pass the model to MocoTrack
+modelProcessor = osim.ModelProcessor(model)
+track.setModel(modelProcessor)
+
+# Reference data for coordinate tracking
+tableProcessor = osim.TableProcessor("referenceCoordinates.sto")
+tableProcessor.append(osim.TabOpLowPassFilter(6.0))
+track.setStatesReference(tableProcessor)
+
+# Remaining MocoTrack settings
+track.set_states_global_tracking_weight(30)
+track.set_allow_unused_references(True)
+track.set_track_reference_position_derivatives(True)
+track.set_apply_tracked_states_to_guess(True)
+track.set_initial_time(0.0)
+track.set_final_time(0.47008941)
+
+# Call initialize() to get the internal MocoStudy. The MocoStudy is comprised
+# of a MocoProblem and a MocoSolver. Get the MocoProblem to configure further.
+study = track.initialize()
+problem = study.updProblem()
+
+
+
+# %% SET GOALS
+
+# Symmetry:
+# This goal allows us to simulate only one step with left-right symmetry that
+# we can then double to create two steps, one on each leg (IFO>IFS>CFO>CFS).
+# Note that this is not actually a full gait cycle (IFO>IFS>CFO>CFS>IFO).
+symmetryGoal = osim.MocoPeriodicityGoal("symmetry_goal")
+problem.addGoal(symmetryGoal)
+
+# Enforce periodic symmetry
+model = modelProcessor.process()
+model.initSystem()
+state_names = [model.getStateVariableNames().getitem(sn) for sn in range(model.getNumStateVariables())]
+for sn in state_names:
+
+ # Symmetric coordinate values and speeds (except for pelvis_tx value):
+ # Here we constrain final coordinate values of one leg to match the initial
+ # value of the other leg. Manually add pelvis_tx speed later.
+ if "jointset" in sn:
+ if "_r" in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn, sn.replace("_r", "_l")))
+ elif "_l" in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn, sn.replace("_l", "_r")))
+ elif "pelvis_tx" not in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn))
+
+ # Symmetric muscle activations:
+ # Here, we constrain final muscle activation values of one leg to match the
+ # initial activation values of the other leg.
+ elif "activation" in sn:
+ if "_r" in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn, sn.replace("_r", "_l")))
+ elif "_l" in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn, sn.replace("_l", "_r")))
+
+
+# The pelvis_tx speed has periodic symmetry
+symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair("/jointset/groundPelvis/pelvis_tx/speed"))
+
+# Lumbar control has periodic symmetry. The other controls don't need symmetry
+# enforced as they are all muscle excitations. Their behaviour will be
+# modulated by the periodicity imposed on their respective activations.
+symmetryGoal.addControlPair(osim.MocoPeriodicityGoalPair('/lumbarAct'))
+
+
+# Effort:
+# Get a reference to the MocoControlGoal that is added to a MocoTrack
+# problem by default and adjust the weight
+effort = osim.MocoControlGoal().safeDownCast(problem.updGoal("control_effort"))
+effort.setWeight(0.1)
+
+
+# Metabolic cost:
+# Total metabolic rate includes activation heat rate, maintenance heat rate,
+# shortening heat rate, mechanical work rate, and basal metabolic rate.
+met_weight = 0.1
+metabolicsGoal = osim.MocoOutputGoal("metabolics", met_weight)
+metabolicsGoal.setOutputPath("/metabolics|total_metabolic_rate")
+metabolicsGoal.setDivideByDisplacement(True)
+metabolicsGoal.setDivideByMass(True)
+problem.addGoal(metabolicsGoal)
+
+
+
+# %% SET BOUNDS
+
+# Coordinate bounds as dict
+coord_bounds = {}
+coord_bounds["/jointset/groundPelvis/pelvis_tilt/value"] = [-20*pi/180, -10*pi/180]
+coord_bounds["/jointset/groundPelvis/pelvis_tx/value"] = [0.0, 1.0]
+coord_bounds["/jointset/groundPelvis/pelvis_ty/value"] = [0.75, 1.25]
+coord_bounds["/jointset/hip_r/hip_flexion_r/value"] = [-10*pi/180, 60*pi/180]
+coord_bounds["/jointset/hip_l/hip_flexion_l/value"] = [-10*pi/180, 60*pi/180]
+coord_bounds["/jointset/knee_r/knee_angle_r/value"] = [-50*pi/180, 0]
+coord_bounds["/jointset/knee_l/knee_angle_l/value"] = [-50*pi/180, 0]
+coord_bounds["/jointset/ankle_r/ankle_angle_r/value"] = [-15*pi/180, 25*pi/180]
+coord_bounds["/jointset/ankle_l/ankle_angle_l/value"] = [-15*pi/180, 25*pi/180]
+coord_bounds["/jointset/lumbar/lumbar/value"] = [0, 20*pi/180]
+
+# Set coordinate bounds
+for bnd in coord_bounds:
+ problem.setStateInfo(bnd, coord_bounds[bnd]);
+
+
+
+# %% SOLVE
+
+# Configure the solver
+solver = study.initCasADiSolver()
+solver.set_num_mesh_intervals(50)
+solver.set_verbosity(2)
+solver.set_optim_solver("ipopt")
+solver.set_optim_convergence_tolerance(1e-4)
+solver.set_optim_constraint_tolerance(1e-4)
+solver.set_optim_max_iterations(10000)
+
+# Solve the problem for a single step
+solution = study.solve()
+
+
+# Create two mirrored steps from the single step solution, see API
+# documentation for use of this utility function
+two_steps_solution = osim.createPeriodicTrajectory(solution)
+two_steps_solution.write("walk_2D_metabolics_two_steps_tracking_solution.sto")
+
+# Also extract the predicted ground forces, see API documentation for use of
+# this utility function
+contact_r = ["contactHeel_r", "contactFront_r"]
+contact_l = ["contactHeel_l", "contactFront_l"]
+contact_forces_table = osim.createExternalLoadsTableForGait(model, two_steps_solution, contact_r, contact_l)
+osim.STOFileAdapter().write(contact_forces_table, "walk_2D_metabolics_two_steps_tracking_ground_forces.sto")
+
+
+# Determine the cost of transport from the metabolics cost term. Need to divide
+# by the weight applied earlier.
+COT = solution.getObjectiveTerm("metabolics") / met_weight
+print("\nThe metabolic cost of transport is: %f" % COT)
+
+
+# visualise
+study.visualize(two_steps_solution)
\ No newline at end of file
diff --git a/Bindings/Python/examples/Moco/example2DWalking/example2DWalkingStepAsymmetry.py b/Bindings/Python/examples/Moco/example2DWalking/example2DWalkingStepAsymmetry.py
new file mode 100644
index 0000000000..502f51c813
--- /dev/null
+++ b/Bindings/Python/examples/Moco/example2DWalking/example2DWalkingStepAsymmetry.py
@@ -0,0 +1,511 @@
+# -*- coding: utf-8 -*-
+"""
+MOCO: WALKING 2D EXAMPLE - STEP ASYMMETRY
+
+@author: Prasanna Sritharan, June 2022
+
+
+This is a Python implementation of an example optimal control problem
+originally written by Russell T. Johnson for Matlab
+(see example2DWalkingStepAsymmetry.m).
+
+Simulate asymmetric gait using MocoStepTimeAsymmetryGoal and
+MocoStepLengthAsymmetryGoal. This is an extension of the example2DWalking
+MATLAB example (see example2DWalking.m for details about model and data used).
+"""
+
+
+from math import pi
+import opensim as osim
+import os
+import numpy as np
+
+
+
+"""
+stepTimeAsymmetry():
+
+Set up a predictive optimization problem where the goal is to minimize an
+effort cost (cubed controls) and hit a target step time asymmetry. Unlike
+example2DWalking, this problem requires simulating a full gait cycle.
+Additionally, endpoint constraints enforce periodicity of the coordinate values
+(except for pelvis tx) and speeds, coordinate actuator controls, and muscle
+activations.
+
+Step time is defined as the time between consecutive foot strikes. Step Time
+Asymmetry (STA) is a ratio and is calculated as follows:
+ - Right Step Time (RST) = Time from left foot-strike to right foot-strike
+ - Left Step Time (LST) = Time from right foot-strike to left foot-strike
+ - STA = (RST - LST) / (RST + LST)
+
+The step time goal works by "counting" the number of nodes that each foot is in
+contact with the ground (with respect to a specified contact force threshold).
+Since, in walking, there are double support phases where both feet are on the
+ground, the goal also detects which foot is in front and assigns the step time
+to the leading foot. Altogether, it estimates the time between consecutive
+heel strikes in order to infer the left and right step times.
+
+The contact elements for each foot must specified via 'setLeftContactGroup()'
+and 'setRightContactGroup()'. The force element and force threshold used to
+determine when a foot is in contact is set via 'setContactForceDirection()' and
+'setContactForceThreshold()'.
+
+Users must provide the target asymmetry value via 'setTargetAsymmetry()'.
+Asymmetry values ranges from -1.0 to 1.0. For example, 0.20 is 20positive
+step time asymmetry with greater right step times than left step times. A
+symmetric step times solution can be achieved by setting this property to zero.
+This goal can be used only in 'cost' mode, where the error between the target
+asymmetry and model asymmetry is squared. To make this goal suitable for
+gradient-based optimization, step time values are assigned via smoothing
+functions which can be controlled via 'setAsymmetrySmoothing()' and
+'setContactDetectionSmoothing()'.
+
+Since this goal doesn't directly compute the step time asymmetry from heel
+strikes, users should confirm that the step time asymmetry from the solution
+matches closely to the target. To do this, we provide the helper function
+computeStepAsymmetryValues() below.
+"""
+def stepTimeAsymmetry():
+
+
+ # **********************************
+ # DEFINE THE OPTIMAL CONTROL PROBLEM
+
+ # Create a MocoStudy
+ study = osim.MocoStudy()
+ study.setName("step_time_asymmetry")
+
+ # Get the model
+ modelProcessor = osim.ModelProcessor("2D_gait.osim")
+ modelProcessor.append(osim.ModOpTendonComplianceDynamicsModeDGF("implicit"))
+
+ # Get the MocoProblem from the MocoStudy and set the model on it
+ problem = study.updProblem()
+ problem.setModelProcessor(modelProcessor)
+
+
+
+ # **********************************
+ # SET GOALS
+
+ # Periodicity:
+ # All states are periodic except pelvis_tx value, lumbar actuator control
+ # is periodic.
+ periodicityGoal = osim.MocoPeriodicityGoal("periodicity")
+ model = modelProcessor.process()
+ model.initSystem()
+ state_names = [model.getStateVariableNames().getitem(sn) for sn in range(model.getNumStateVariables())]
+ for sn in state_names:
+ if "pelvis_tx/value" not in sn:
+ periodicityGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn))
+ periodicityGoal.addControlPair(osim.MocoPeriodicityGoalPair("/lumbarAct"))
+ problem.addGoal(periodicityGoal)
+
+ # Average gait speed
+ speedGoal = osim.MocoAverageSpeedGoal("avg_speed")
+ speedGoal.set_desired_average_speed(1.0)
+ problem.addGoal(speedGoal)
+
+ # Effort
+ effortGoal = osim.MocoControlGoal("effort", 10.0)
+ effortGoal.setExponent(3)
+ effortGoal.setDivideByDisplacement(True)
+ problem.addGoal(effortGoal)
+
+ # Step time asymmetry:
+ # Create the goal, and configure it
+ stepTimeAsymmetryGoal = osim.MocoStepTimeAsymmetryGoal("step_time_asymmetry")
+ # Value for smoothing term used to compute when foot contact is made
+ # (default = 0.25). Users may need to adjust this based on convergence and
+ # matching the target asymmetry.
+ stepTimeAsymmetryGoal.setContactDetectionSmoothing(0.4)
+ # Contact threshold based on vertical GRF (default = 25 N)
+ stepTimeAsymmetryGoal.setContactForceThreshold(25.0)
+ # Value for smoothing term used to compute asymmetry (default = 10). Users
+ # may need to adjust this based on convergence and matching the target
+ # asymmetry.
+ stepTimeAsymmetryGoal.setAsymmetrySmoothing(3.0)
+ # Target step length asymmetry. Positive values mean greater right step
+ # length than left.
+ stepTimeAsymmetryGoal.setTargetAsymmetry(0.10)
+ # Set goal weight
+ stepTimeAsymmetryGoal.setWeight(5.0)
+ # Need to define the names of the left and right heel spheres: this is
+ # used to detect which foot is in front during double support phase.
+ contact_r = ["contactHeel_r", "contactFront_r"]
+ contact_l = ["contactHeel_l", "contactFront_l"]
+ stepTimeAsymmetryGoal.setRightContactGroup(contact_r, "contactHeel_r")
+ stepTimeAsymmetryGoal.setLeftContactGroup(contact_l, "contactHeel_l")
+ # Add the goal to the problem
+ problem.addGoal(stepTimeAsymmetryGoal)
+
+
+
+ # **********************************
+ # SET BOUNDS
+
+ # Set time bounds
+ problem.setTimeBounds(0.0, 0.94)
+
+ # Coordinate bounds as dict
+ coord_bounds = {}
+ coord_bounds["/jointset/groundPelvis/pelvis_tilt/value"] = [-20*pi/180, 20*pi/180]
+ coord_bounds["/jointset/groundPelvis/pelvis_tx/value"] = [0, 2]
+ coord_bounds["/jointset/groundPelvis/pelvis_ty/value"] = [0.75, 1.25]
+ coord_bounds["/jointset/hip_r/hip_flexion_r/value"] = [-10*pi/180, 60*pi/180]
+ coord_bounds["/jointset/hip_l/hip_flexion_l/value"] = [-10*pi/180, 60*pi/180]
+ coord_bounds["/jointset/knee_r/knee_angle_r/value"] = [-50*pi/180, 0]
+ coord_bounds["/jointset/knee_l/knee_angle_l/value"] = [-50*pi/180, 0]
+ coord_bounds["/jointset/ankle_r/ankle_angle_r/value"] = [-15*pi/180, 25*pi/180]
+ coord_bounds["/jointset/ankle_l/ankle_angle_l/value"] = [-15*pi/180, 25*pi/180]
+ coord_bounds["/jointset/lumbar/lumbar/value"] = [0, 20*pi/180]
+
+ # Set coordinate bounds
+ for bnd in coord_bounds:
+ problem.setStateInfo(bnd, coord_bounds[bnd])
+
+
+
+ # **********************************
+ # SOLVE
+
+ # Configure the solver
+ solver = study.initCasADiSolver()
+ solver.set_num_mesh_intervals(100)
+ solver.set_verbosity(2)
+ solver.set_optim_convergence_tolerance(1e-4)
+ solver.set_optim_constraint_tolerance(1e-4)
+ solver.set_optim_max_iterations(2000)
+
+ # Set the initial guess to be the symmetric two-steps tracking solution
+ # from example2DWalking.py. Run this first, or proceed without a guess.
+ guess_file = "walk_2D_two_steps_tracking_solution.sto"
+ if os.path.isfile(guess_file):
+ solver.setGuessFile(guess_file)
+
+ # Print the Study to file
+ study.printToXML("example2DWalkingStepTimeAsymmetry.omoco")
+
+
+ # Solve
+ solution = study.solve()
+ solution.write("walk_2D_step_time_asym_solution.sto")
+
+
+ # Write predicted GRF to file
+ contact_forces_table = osim.createExternalLoadsTableForGait(model, solution, contact_r, contact_l)
+ osim.STOFileAdapter().write(contact_forces_table, "walk_2D_step_time_asym_ground_forces.sto")
+
+ # Calculate step time asymmetry
+ step_time_asym, _ = computeStepAsymmetry(model, 25, "walk_2D_step_time_asym_solution.sto", "walk_2D_step_time_asym_ground_forces.sto")
+ print("\nStep time asymmetry: %f\n" % step_time_asym)
+
+
+ return study, solution
+
+
+
+"""
+stepLengthAsymmetry():
+
+This goal works by limiting the distance between feet, or "foot frames",
+throughout the gait cycle. The goal calculates the distance between the left
+foot and right foot, then limits the distance between feet to not pass beyond
+minimum (negative) or maximum (positive) bounds. There are two limits used:
+one that limits the distance between feet when the right foot is in front, and
+one that limits the distance between feet when the left foot is in front.
+
+Step Length Asymmetry (SLA) is a ratio and is calculated as follows:
+The Right Step Length (RSL) is the distance between feet at right foot strike
+The Left Step Length (LSL) is the distance between feet at left foot strike
+Step Length Asymmetry = (RSL - LSL)/ (RSL + LSL)
+
+Users must provide the target asymmetry value via 'setTargetAsymmetry()'.
+Asymmetry values ranges from -1.0 to 1.0. For example, 0.20 is 20positive
+step length asymmetry with greater right step length than left step length. A
+symmetric step length solution can be achieved by setting this property to zero.
+This goal can be used only in 'cost' mode, where the error between the target
+asymmetry and model asymmetry is squared. To make this goal suitable for
+gradient-based optimization, step length values are assigned via a smoothing
+function which can be controlled via 'setAsymmetrySmoothing()'.
+
+Users must also prescribed the stride length via 'setStrideLength()'. The goal
+then calculates the minimum and maximum bounds on the distance between right
+and left foot. Users must ensure that this stride length is met via problem
+bounds or other goals; the value provided to MocoStepLengthAsymmetryGoal is
+only used to compute the model's asymmetry in the cost function.
+
+Because this goal doesn't directly compute the step length asymmetry from
+heel strike data, users should confirm that the step length asymmetry
+from the solution matches closely to their target. To do this, we
+provide the helper function computeStepAsymmetryValues() below. Users may
+also want to confirm that the stride length from the optimization
+matches with setStrideLength(), or set additional constraints for stride length
+within the optimization. Additionally, in some cases users may want to set
+target asymmetries above or below the desired value, in the event there is
+some offset.
+"""
+def stepLengthAsymmetry():
+
+
+ # **********************************
+ # DEFINE THE OPTIMAL CONTROL PROBLEM
+
+ # Create a MocoStudy
+ study = osim.MocoStudy()
+ study.setName("step_length_asymmetry")
+
+ # Get the model
+ modelProcessor = osim.ModelProcessor("2D_gait.osim")
+ modelProcessor.append(osim.ModOpTendonComplianceDynamicsModeDGF("implicit"))
+
+ # Get the MocoProblem from the MocoStudy and set the model on it
+ problem = study.updProblem()
+ problem.setModelProcessor(modelProcessor)
+
+
+
+ # **********************************
+ # SET GOALS
+
+ # Periodicity:
+ # All states are periodic except pelvis_tx value, lumbar actuator control
+ # is periodic.
+ periodicityGoal = osim.MocoPeriodicityGoal("periodicity")
+ model = modelProcessor.process()
+ model.initSystem()
+ state_names = [model.getStateVariableNames().getitem(sn) for sn in range(model.getNumStateVariables())]
+ for sn in state_names:
+ if "pelvis_tx/value" not in sn:
+ periodicityGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn))
+ periodicityGoal.addControlPair(osim.MocoPeriodicityGoalPair("/lumbarAct"))
+ problem.addGoal(periodicityGoal)
+
+ # Average gait speed
+ speedGoal = osim.MocoAverageSpeedGoal("avg_speed")
+ speedGoal.set_desired_average_speed(1.0)
+ problem.addGoal(speedGoal)
+
+ # Effort
+ effortGoal = osim.MocoControlGoal("effort", 10.0)
+ effortGoal.setExponent(3)
+ effortGoal.setDivideByDisplacement(True)
+ problem.addGoal(effortGoal)
+
+ # Step length asymmetry:
+ # Create the goal, and configure it
+ stepLengthAsymmetryGoal = osim.MocoStepLengthAsymmetryGoal()
+ # Set body names for left and right foot
+ stepLengthAsymmetryGoal.setRightFootFrame('/bodyset/calcn_r')
+ stepLengthAsymmetryGoal.setLeftFootFrame('/bodyset/calcn_l')
+ # Provide the stride length for the simulation (m)
+ stepLengthAsymmetryGoal.setStrideLength(0.904)
+ # Value for smoothing term used to compute asymmetry (default = 5). Users
+ # may need to adjust this based on convergence and matching the target
+ # asymmetry.
+ stepLengthAsymmetryGoal.setAsymmetrySmoothing(5)
+ # Target step length asymmetry. Positive values mean greater right step
+ # length than left.
+ stepLengthAsymmetryGoal.setTargetAsymmetry(-0.10)
+ # Set goal weight
+ stepLengthAsymmetryGoal.setWeight(5)
+ # Add the goal to the problem
+ problem.addGoal(stepLengthAsymmetryGoal)
+
+
+
+ # **********************************
+ # SET BOUNDS
+
+ # Set time bounds
+ problem.setTimeBounds(0.0, 0.94)
+
+ # Coordinate bounds as dict
+ coord_bounds = {}
+ coord_bounds["/jointset/groundPelvis/pelvis_tilt/value"] = [-20*pi/180, 20*pi/180]
+ coord_bounds["/jointset/groundPelvis/pelvis_tx/value"] = [0, 2]
+ coord_bounds["/jointset/groundPelvis/pelvis_ty/value"] = [0.75, 1.25]
+ coord_bounds["/jointset/hip_r/hip_flexion_r/value"] = [-10*pi/180, 60*pi/180]
+ coord_bounds["/jointset/hip_l/hip_flexion_l/value"] = [-10*pi/180, 60*pi/180]
+ coord_bounds["/jointset/knee_r/knee_angle_r/value"] = [-50*pi/180, 0]
+ coord_bounds["/jointset/knee_l/knee_angle_l/value"] = [-50*pi/180, 0]
+ coord_bounds["/jointset/ankle_r/ankle_angle_r/value"] = [-15*pi/180, 25*pi/180]
+ coord_bounds["/jointset/ankle_l/ankle_angle_l/value"] = [-15*pi/180, 25*pi/180]
+ coord_bounds["/jointset/lumbar/lumbar/value"] = [0, 20*pi/180]
+
+ # Set coordinate bounds
+ for bnd in coord_bounds:
+ problem.setStateInfo(bnd, coord_bounds[bnd])
+
+
+
+ # **********************************
+ # SOLVE
+
+ # Configure the solver
+ solver = study.initCasADiSolver()
+ solver.set_num_mesh_intervals(100)
+ solver.set_verbosity(2)
+ solver.set_optim_convergence_tolerance(1e-4)
+ solver.set_optim_constraint_tolerance(1e-4)
+ solver.set_optim_max_iterations(2000)
+
+ # Set the initial guess to be the symmetric two-steps tracking solution
+ # from example2DWalking.py. Run this first, or proceed without a guess.
+ guess_file = "walk_2D_two_steps_tracking_solution.sto"
+ if os.path.isfile(guess_file):
+ solver.setGuessFile(guess_file)
+
+ # Print the Study to file
+ study.printToXML("example2DWalkingStepLengthAsymmetry.omoco")
+
+
+ # Solve
+ solution = study.solve()
+ solution.write("walk_2D_step_length_asym_solution.sto")
+
+ # Write predicted GRF to file
+ contact_r = ["contactHeel_r", "contactFront_r"]
+ contact_l = ["contactHeel_l", "contactFront_l"]
+ contact_forces_table = osim.createExternalLoadsTableForGait(model, solution, contact_r, contact_l)
+ osim.STOFileAdapter().write(contact_forces_table, "walk_2D_step_length_asym_ground_forces.sto")
+
+ # Calculate step time asymmetry
+ _, step_length_asym = computeStepAsymmetry(model, 25, "walk_2D_step_length_asym_solution.sto", "walk_2D_step_length_asym_ground_forces.sto")
+ print("\nStep length asymmetry: %f\n" % step_length_asym)
+
+
+ return study, solution
+
+
+
+"""
+computeStepAsymmetry():
+
+Calculate the values of the step length and step time asymmetry from the
+results of the simulation.
+"""
+def computeStepAsymmetry(model_file, threshold, solution_file, grf_file):
+
+ # Load model
+ model = osim.Model(model_file)
+
+ # Load predicted GRF
+ grf = np.genfromtxt(grf_file, skip_header=5, delimiter="\t")
+
+ # GRF time vector and vertical components
+ tvec = grf[:, 0]
+
+
+ # **********************************
+ # STEP TIME ASYMMETRY
+
+ # Find index of heel strike on each leg
+ hs_idxR = findHeelStrikeIndex(grf[:, 2], threshold)
+ hs_idxL = findHeelStrikeIndex(grf[:, 8], threshold)
+
+ # Compute step time on each leg
+ hs_timeR = tvec[hs_idxR]
+ hs_timeL = tvec[hs_idxL]
+ if hs_timeR < hs_timeL:
+ step_timeL = hs_timeL - hs_timeR
+ step_timeR = tvec[-1] - step_timeL
+ else:
+ step_timeR = hs_timeR - hs_timeL
+ step_timeL = tvec[-1] - step_timeR
+
+ # Calculate step time asymmetry (%)
+ step_time_asym = 100 * (step_timeR - step_timeL) / (step_timeR + step_timeL)
+
+
+ # **********************************
+ # STEP LENGTH ASYMMETRY
+
+ # Get the states for each limb at the instant of heel strike on that limb
+ states_traj = osim.StatesTrajectory().createFromStatesTable(model, osim.TimeSeriesTable(solution_file), False, True, True)
+ statesR = states_traj.get(hs_idxR)
+ statesL = states_traj.get(hs_idxL)
+
+ # Calculate the step length
+ step_lengthR = calculateStepLength(model, statesR)
+ step_lengthL = calculateStepLength(model, statesL)
+
+ # Calculate step length asymmetry (%)
+ step_length_asym = 100 * (step_lengthR - step_lengthL) / (step_lengthR + step_lengthL)
+
+
+ return step_time_asym, step_length_asym
+
+
+
+"""
+findHeelStrikeIndex():
+
+Find heel strike index by determining foot contact on-off instances. If no
+heel strike is found, then assume first index is heel strike. This
+implementation differs from that of Russell T. Johnson's Matlab version, but
+follows the same prinicples.
+"""
+def findHeelStrikeIndex(grfy, threshold):
+
+ # Find windows representing ground contact
+ is_contact = (grfy > threshold).astype(int)
+
+ # Calculate transition points, i.e. heel strike (1) and foot off (-1)
+ contact_diff = np.diff(np.insert(is_contact, 0, 1))
+
+ # Extract heel strike and foot off indices. If no heel strike found,
+ # assume first index is heel strike.
+ idxs = np.where(contact_diff == 1)[0]
+ if idxs.size == 0:
+ idx = 0
+ else:
+ idx = idxs[0]
+
+ return int(idx)
+
+
+
+"""
+calculateStepLength():
+
+Find step length by configuring the model at heel strike, then compute distance
+between contact spheres along the fore-aft coordinate.
+"""
+def calculateStepLength(model, state):
+
+ # Configure the model at heel strike
+ model.initSystem()
+ model.realizePosition(state)
+
+ # Get the heel contact spheres
+ contact_r = model.getContactGeometrySet().get("heel_r")
+ contact_l = model.getContactGeometrySet().get("heel_l")
+
+ # Find the positions of the contact spheres in the global frame
+ pos_r = contact_r.getFrame().getPositionInGround(state)
+ pos_l = contact_l.getFrame().getPositionInGround(state)
+
+ # Step length is the difference between global position of the left and
+ # right along the fore-aft coordinate (x)
+ step_length = abs(pos_r.get(0) - pos_l.get(0))
+
+ return step_length
+
+
+
+
+# %% STEP TIME ASYMMETRY
+
+# Solve and visualise
+step_time_study, step_time_solution = stepTimeAsymmetry()
+step_time_study.visualize(step_time_solution)
+
+
+
+# %% STEP LENGTH ASYMMETRY
+
+# Solve and visualise
+step_length_study, step_length_solution = stepLengthAsymmetry()
+step_length_study.visualize(step_length_solution)
+
diff --git a/Bindings/Python/examples/Moco/example2DWalking/referenceCoordinates.sto b/Bindings/Python/examples/Moco/example2DWalking/referenceCoordinates.sto
new file mode 100644
index 0000000000..49c1856b97
--- /dev/null
+++ b/Bindings/Python/examples/Moco/example2DWalking/referenceCoordinates.sto
@@ -0,0 +1,56 @@
+version=1
+nRows=50
+nColumns=11
+inDegrees=no
+endheader
+time /jointset/groundPelvis/pelvis_tilt/value /jointset/groundPelvis/pelvis_tx/value /jointset/groundPelvis/pelvis_ty/value /jointset/hip_l/hip_flexion_l/value /jointset/hip_r/hip_flexion_r/value /jointset/knee_l/knee_angle_l/value /jointset/knee_r/knee_angle_r/value /jointset/ankle_l/ankle_angle_l/value /jointset/ankle_r/ankle_angle_r/value /jointset/lumbar/lumbar/value
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diff --git a/Bindings/Python/examples/Moco/example2DWalking/referenceGRF.sto b/Bindings/Python/examples/Moco/example2DWalking/referenceGRF.sto
new file mode 100644
index 0000000000..ea7372e1bc
--- /dev/null
+++ b/Bindings/Python/examples/Moco/example2DWalking/referenceGRF.sto
@@ -0,0 +1,56 @@
+version=1
+nRows=50
+nColumns=19
+inDegrees=no
+endheader
+time ground_force_r_vx ground_force_r_vy ground_force_r_vz ground_force_l_vx ground_force_l_vy ground_force_l_vz ground_force_r_px ground_force_r_py ground_force_r_pz ground_torque_r_x ground_torque_r_y ground_torque_r_z ground_force_l_px ground_force_l_py ground_force_l_pz ground_torque_l_x ground_torque_l_y ground_torque_l_z
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+0.41252745 68.31852304 613.8200683 0 -31.25816585 13.5369722 0 0 0 0 0 0 0 0 0 0 0 0 0
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+0.44130843 97.27797645 610.7621406 0 -23.65794881 11.83094037 0 0 0 0 0 0 0 0 0 0 0 0 0
+0.45090209 106.6857723 601.3876317 0 -23.96903654 12.64370381 0 0 0 0 0 0 0 0 0 0 0 0 0
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+0.47008941 119.1204798 559.9827889 0 -32.28560944 19.3260534 0 0 0 0 0 0 0 0 0 0 0 0 0
diff --git a/Bindings/Python/examples/Moco/example2DWalking/referenceGRF.xml b/Bindings/Python/examples/Moco/example2DWalking/referenceGRF.xml
new file mode 100644
index 0000000000..f16e4519a9
--- /dev/null
+++ b/Bindings/Python/examples/Moco/example2DWalking/referenceGRF.xml
@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<OpenSimDocument Version="30000">
+ <ExternalLoads name="referenceGRF">
+ <objects>
+ <ExternalForce name="Right_GRF">
+ <!--Name of the body the force is applied to.-->
+ <applied_to_body>calcn_r</applied_to_body>
+ <!--Name of the body the force is expressed in (default is ground).-->
+ <force_expressed_in_body>ground</force_expressed_in_body>
+ <!--Name of the body the point is expressed in (default is ground).-->
+ <point_expressed_in_body>ground</point_expressed_in_body>
+ <!--Identifier (string) to locate the force to be applied in the data source.-->
+ <force_identifier>ground_force_r_v</force_identifier>
+ <!--Identifier (string) to locate the point to be applied in the data source.-->
+ <point_identifier>ground_force_r_p</point_identifier>
+ <!--Identifier (string) to locate the torque to be applied in the data source.-->
+ <torque_identifier>ground_torque_r_</torque_identifier>
+ </ExternalForce>
+ <ExternalForce name="Left_GRF">
+ <applied_to_body>calcn_l</applied_to_body>
+ <force_expressed_in_body>ground</force_expressed_in_body>
+ <point_expressed_in_body>ground</point_expressed_in_body>
+ <force_identifier>ground_force_l_v</force_identifier>
+ <point_identifier>ground_force_l_p</point_identifier>
+ <torque_identifier>ground_torque_l_</torque_identifier>
+ </ExternalForce>
+ </objects>
+ <groups />
+ <!--Storage file (.sto) containing (3) components of force and/or torque and point of application.Note: this file overrides the data source specified by the individual external forces if specified.-->
+ <datafile>referenceGRF.sto</datafile>
+ </ExternalLoads>
+</OpenSimDocument>
From 6692f47d3f4a1439c7ae317429e6a8900ac9a8ea Mon Sep 17 00:00:00 2001
From: psbiomech <psbiomech@gmail.com>
Date: Mon, 27 Jun 2022 15:08:17 +1000
Subject: [PATCH 3/8] Delete .gitkeep
---
Bindings/Python/examples/Moco/example2DWalking/.gitkeep | 1 -
1 file changed, 1 deletion(-)
delete mode 100644 Bindings/Python/examples/Moco/example2DWalking/.gitkeep
diff --git a/Bindings/Python/examples/Moco/example2DWalking/.gitkeep b/Bindings/Python/examples/Moco/example2DWalking/.gitkeep
deleted file mode 100644
index 8b13789179..0000000000
--- a/Bindings/Python/examples/Moco/example2DWalking/.gitkeep
+++ /dev/null
@@ -1 +0,0 @@
-
From eca870d435f1ba37e1e60e2c1aae5f9ad451c8f0 Mon Sep 17 00:00:00 2001
From: psbiomech <psbiomech@gmail.com>
Date: Mon, 27 Jun 2022 15:52:07 +1000
Subject: [PATCH 4/8] Updated to 80 chars per ine
---
Bindings/Python/examples/example2DWalking.py | 416 ++++++++++++++
.../examples/example2DWalkingMetabolics.py | 219 +++++++
.../examples/example2DWalkingStepAsymmetry.py | 537 ++++++++++++++++++
3 files changed, 1172 insertions(+)
create mode 100644 Bindings/Python/examples/example2DWalking.py
create mode 100644 Bindings/Python/examples/example2DWalkingMetabolics.py
create mode 100644 Bindings/Python/examples/example2DWalkingStepAsymmetry.py
diff --git a/Bindings/Python/examples/example2DWalking.py b/Bindings/Python/examples/example2DWalking.py
new file mode 100644
index 0000000000..4a788cd379
--- /dev/null
+++ b/Bindings/Python/examples/example2DWalking.py
@@ -0,0 +1,416 @@
+# -*- coding: utf-8 -*-
+"""
+MOCO: WALKING 2D EXAMPLE - TRACKING & PREDICTION
+
+@author: Prasanna Sritharan, June 2022
+
+This is a Python implementation of an example optimal control
+problem (2D walking) orginally created in C++ by Antoine Falisse
+(see: example2DWalking.cpp) and adapted for Matlab by Brian Umberger
+(see: example2DWalking.m).
+"""
+
+from math import pi
+import opensim as osim
+
+
+
+
+"""
+gait_tracking():
+Set up a coordinate tracking problem where the goal is to minimize the
+difference between provided and simulated coordinate values and speeds (and
+ground reaction forces), as well as to minimize an effort cost (squared
+controls). The provided data represents one step. Endpoint constraints
+enforce periodicity of the coordinate values (except for pelvis tx) and speeds,
+coordinate actuator controls, and muscle activations.
+"""
+def gait_tracking():
+
+
+
+ # **********************************
+ # DEFINE THE OPTIMAL CONTROL PROBLEM
+
+ # Create tracking problem
+ track = osim.MocoTrack()
+ track.setName("gait_tracking")
+
+ # Construct a ModelProcessor and set it on the tool
+ modelProcessor = osim.ModelProcessor("2D_gait.osim")
+ track.setModel(modelProcessor)
+
+
+ # Get the coordinates into a TableProcessor
+ tableProcessor = osim.TableProcessor("referenceCoordinates.sto")
+ tableProcessor.append(osim.TabOpLowPassFilter(6.0))
+
+ # Set the coordinates as the reference states
+ track.setStatesReference(tableProcessor)
+ track.set_allow_unused_references(True)
+
+ # Only coordinates are provided so derive to get speeds and track these too
+ track.set_track_reference_position_derivatives(True)
+
+ # use coordinates and speeds for initial guess
+ track.set_apply_tracked_states_to_guess(True)
+
+ # Define the global state tracking weight
+ track.set_states_global_tracking_weight(1.0)
+
+
+ # Set initial time, final time and mesh interval
+ track.set_initial_time(0.0)
+ track.set_final_time(0.47008941)
+
+ # Call initialize() to receive a pre-configured MocoStudy object based on
+ # the settings above. Use this to customize the problem beyond the
+ # Mocotrack interface.
+ study = track.initialize()
+
+ # Get a writable reference to the MocoProblem from the MocoStudy to perform
+ # more customisation
+ problem = study.updProblem()
+
+
+
+ # **********************************
+ # SET GOALS
+
+ # Symmetry:
+ # This goal allows us to simulate only one step with left-right symmetry
+ # that we can then double to create two steps, one on each leg
+ # (IFO>IFS>CFO>CFS). Note that this is not actually a full gait cycle
+ # (IFO>IFS>CFO>CFS>IFO).
+ symmetryGoal = osim.MocoPeriodicityGoal("symmetry_goal")
+ problem.addGoal(symmetryGoal)
+
+ # Enforce periodic symmetry
+ model = modelProcessor.process()
+ model.initSystem()
+ state_names = [model.getStateVariableNames().getitem(sn)
+ for sn in range(model.getNumStateVariables())]
+ for sn in state_names:
+
+ # Symmetric coordinate values and speeds (except for pelvis_tx value):
+ # Here we constrain final coordinate values of one leg to match the
+ # initial value of the other leg. Manually add pelvis_tx speed later.
+ if "jointset" in sn:
+ if "_r" in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
+ sn.replace("_r", "_l")))
+ elif "_l" in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
+ sn.replace("_l", "_r")))
+ elif "pelvis_tx" not in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn))
+
+ # Symmetric muscle activations:
+ # Here, we constrain final muscle activation values of one leg to match
+ # the initial activation values of the other leg.
+ elif "activation" in sn:
+ if "_r" in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
+ sn.replace("_r", "_l")))
+ elif "_l" in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
+ sn.replace("_l", "_r")))
+
+
+ # The pelvis_tx speed has periodic symmetry
+ symmetryGoal.addStatePair(
+ osim.MocoPeriodicityGoalPair("/jointset/groundPelvis/pelvis_tx/speed"))
+
+ # Lumbar control has periodic symmetry. The other controls don't need
+ # symmetry enforced as they are all muscle excitations. Their behaviour
+ # will be contstrained by the periodicity imposed on their respective
+ # activations.
+ symmetryGoal.addControlPair(osim.MocoPeriodicityGoalPair('/lumbarAct'))
+
+
+ # Effort:
+ # Get a reference to the MocoControlGoal that is added to a MocoTrack
+ # problem by default and adjust the weight
+ effort = osim.MocoControlGoal.safeDownCast(
+ problem.updGoal("control_effort"))
+ effort.setWeight(10.0)
+
+
+ # Ground contact:
+ # Track the left and right vertical and fore-aft GRFs
+ contact_r = ["contactHeel_r", "contactFront_r"]
+ contact_l = ["contactHeel_l", "contactFront_l"]
+ grf_tracking_weight = 1
+ if grf_tracking_weight != 0:
+
+ # Create a contact tracking goal
+ contactTracking = osim.MocoContactTrackingGoal("contact",
+ grf_tracking_weight)
+ contactTracking.setExternalLoadsFile("referenceGRF.xml")
+
+ # Add contact groups. The sum of all the contact forces in each group
+ # should track the force data from a single ExternalForce
+ contactTracking.addContactGroup(contact_r, "Right_GRF")
+ contactTracking.addContactGroup(contact_l, "Left_GRF")
+
+ # 2D walking problem so consider force errors in the sagittal plane
+ contactTracking.setProjection("plane")
+ contactTracking.setProjectionVector(osim.Vec3(0, 0, 1))
+
+ # add the goal to the MocoProblem
+ problem.addGoal(contactTracking)
+
+
+
+ # **********************************
+ # SET BOUNDS
+
+ # Coordinate bounds as dict
+ coord_bounds = {}
+ coord_bounds["/jointset/groundPelvis/pelvis_tilt/value"] = [-20*pi/180,
+ -10*pi/180]
+ coord_bounds["/jointset/groundPelvis/pelvis_tx/value"] = [0.0, 1.0]
+ coord_bounds["/jointset/groundPelvis/pelvis_ty/value"] = [0.75, 1.25]
+ coord_bounds["/jointset/hip_r/hip_flexion_r/value"] = [-10*pi/180,
+ 60*pi/180]
+ coord_bounds["/jointset/hip_l/hip_flexion_l/value"] = [-10*pi/180,
+ 60*pi/180]
+ coord_bounds["/jointset/knee_r/knee_angle_r/value"] = [-50*pi/180, 0]
+ coord_bounds["/jointset/knee_l/knee_angle_l/value"] = [-50*pi/180, 0]
+ coord_bounds["/jointset/ankle_r/ankle_angle_r/value"] = [-15*pi/180,
+ 25*pi/180]
+ coord_bounds["/jointset/ankle_l/ankle_angle_l/value"] = [-15*pi/180,
+ 25*pi/180]
+ coord_bounds["/jointset/lumbar/lumbar/value"] = [0, 20*pi/180]
+
+ # Set coordinate bounds
+ for bnd in coord_bounds:
+ problem.setStateInfo(bnd, coord_bounds[bnd]);
+
+
+
+ # **********************************
+ # SOLVE
+
+ # The Solver is pre-configured, however, uncomment below to configure
+ # further if desired. This gets a writable reference to the Solver, for
+ # custom configuration.
+ # solver = study.updSolver()
+ # solver.set_num_mesh_intervals(50);
+ # solver.set_verbosity(2);
+ # solver.set_optim_solver("ipopt");
+ # solver.set_optim_convergence_tolerance(1e-4);
+ # solver.set_optim_constraint_tolerance(1e-4);
+ # solver.set_optim_max_iterations(1000);
+
+
+ # Solve the problem for a single step
+ solution = study.solve()
+
+
+ # Create two mirrored steps from the single step solution, see API
+ # documentation for use of this utility function
+ two_steps_solution = osim.createPeriodicTrajectory(solution)
+ two_steps_solution.write("walk_2D_two_steps_tracking_solution.sto")
+
+ # Also extract the predicted ground forces, see API documentation for use
+ # of this utility function
+ contact_forces_table = osim.createExternalLoadsTableForGait(model,
+ two_steps_solution, contact_r, contact_l)
+ osim.STOFileAdapter().write(contact_forces_table,
+ "walk_2D_two_steps_tracking_ground_forces.sto")
+
+
+ return study, solution, two_steps_solution
+
+
+
+
+"""
+gait_prediction(tracking_solution):
+Set up a gait prediction problem where the goal is to minimize effort
+(squared controls) divided by distance traveled while enforcing symmetry of
+the walking cycle and a prescribed average gait speed through endpoint
+constraints. The solution of the coordinate tracking problem is used as an
+initial guess for the prediction.
+"""
+def gait_prediction(tracking_solution):
+
+
+
+ # **********************************
+ # DEFINE THE OPTIMAL CONTROL PROBLEM
+
+ # Create predcition problem
+ study = osim.MocoStudy()
+ study.setName("gait_prediciton")
+
+ # Get a writable reference to the MocoProblem from the MocoStudy to
+ # customise the problem settings
+ problem = study.updProblem()
+
+ # Construct a ModelProcessor and set it on the Problem
+ modelProcessor = osim.ModelProcessor("2D_gait.osim")
+ problem.setModelProcessor(modelProcessor)
+
+
+
+ # **********************************
+ # SET GOALS
+
+ # Symmetry: This goal allows us to simulate only one step with left-right
+ # symmetry that we can then double to create two steps, one on each leg
+ # (IFO>IFS>CFO>CFS). Note that this is not actually a full gait cycle
+ # (IFO>IFS>CFO>CFS>IFO)
+ symmetryGoal = osim.MocoPeriodicityGoal("symmetry_goal")
+ problem.addGoal(symmetryGoal)
+
+
+ # Enforce periodic symmetry
+ model = modelProcessor.process()
+ model.initSystem()
+ state_names = [model.getStateVariableNames().getitem(sn)
+ for sn in range(model.getNumStateVariables())]
+ for sn in state_names:
+
+ # Symmetric coordinate values and speeds (except for pelvis_tx value):
+ # Here we constrain final coordinate values of one leg to match the
+ # initial value of the other leg. Manually add pelvis_tx speed later.
+ if "jointset" in sn:
+ if "_r" in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
+ sn.replace("_r", "_l")))
+ elif "_l" in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
+ sn.replace("_l", "_r")))
+ elif "pelvis_tx" not in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn))
+
+ # Symmetric muscle activations:
+ # Here, we constrain final muscle activation values of one leg to match
+ # the initial activation values of the other leg.
+ elif "activation" in sn:
+ if "_r" in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
+ sn.replace("_r", "_l")))
+ elif "_l" in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
+ sn.replace("_l", "_r")))
+
+ # The pelvis_tx speed has periodic symmetry
+ symmetryGoal.addStatePair(
+ osim.MocoPeriodicityGoalPair("/jointset/groundPelvis/pelvis_tx/speed"))
+
+ # Lumbar control has periodic symmetry. The other controls don't need
+ # symmetry enforces as they are all muscle excitations. Their behaviour
+ # will be modulated by the periodicity imposed on their activations.
+ symmetryGoal.addControlPair(osim.MocoPeriodicityGoalPair('/lumbarAct'))
+
+ # Specify the desired average walk speed, add as a goal
+ speedGoal = osim.MocoAverageSpeedGoal('avg_speed')
+ speedGoal.set_desired_average_speed(1.2)
+ problem.addGoal(speedGoal)
+
+ # Minimise total "effort" over the distance, i.e. minimise sum of the
+ # absolute values of all controls raised to a given exponent, integrated
+ # over the phase. In a MocoTrack problem, this is automatically added,
+ # however, in this predictive problem, we have created a MocoStudy from
+ # scratch, so we need to add this goal manually to the Problem. The second
+ # input argument to the constructor is the weight applied to this goal.
+ # We also normalise the effort by the distance travelled.
+ effortGoal = osim.MocoControlGoal('effort', 10)
+ effortGoal.setExponent(3)
+ effortGoal.setDivideByDisplacement(True)
+ problem.addGoal(effortGoal)
+
+
+
+ # **********************************
+ # SET BOUNDS
+
+ # set time bounds
+ problem.setTimeBounds(0, [0.4, 0.6])
+
+
+ # Coordinate bounds as dict
+ coord_bounds = {}
+ coord_bounds["/jointset/groundPelvis/pelvis_tilt/value"] = [-20*pi/180,
+ -10*pi/180]
+ coord_bounds["/jointset/groundPelvis/pelvis_tx/value"] = [0.0, 1.0]
+ coord_bounds["/jointset/groundPelvis/pelvis_ty/value"] = [0.75, 1.25]
+ coord_bounds["/jointset/hip_r/hip_flexion_r/value"] = [-10*pi/180,
+ 60*pi/180]
+ coord_bounds["/jointset/hip_l/hip_flexion_l/value"] = [-10*pi/180,
+ 60*pi/180]
+ coord_bounds["/jointset/knee_r/knee_angle_r/value"] = [-50*pi/180, 0]
+ coord_bounds["/jointset/knee_l/knee_angle_l/value"] = [-50*pi/180, 0]
+ coord_bounds["/jointset/ankle_r/ankle_angle_r/value"] = [-15*pi/180,
+ 25*pi/180]
+ coord_bounds["/jointset/ankle_l/ankle_angle_l/value"] = [-15*pi/180,
+ 25*pi/180]
+ coord_bounds["/jointset/lumbar/lumbar/value"] = [0, 20*pi/180]
+
+ # Set coordinate bounds
+ for bnd in coord_bounds:
+ problem.setStateInfo(bnd, coord_bounds[bnd])
+
+
+
+ # **********************************
+ # SOLVE
+
+ # Configure the solver. In the tracking problem, the solver was
+ # pre-configured, using MocoTrack, however, as we have created a MocoStudy
+ # from scratch, we need to initialise the MocoSolver and configure it.
+ solver = study.initCasADiSolver()
+ solver.set_num_mesh_intervals(50)
+ solver.set_verbosity(2)
+ solver.set_optim_solver("ipopt")
+ solver.set_optim_convergence_tolerance(1e-4)
+ solver.set_optim_constraint_tolerance(1e-4)
+ solver.set_optim_max_iterations(1000)
+
+ # Set the tracking solution for one step as the initial guess
+ solver.setGuess(tracking_solution)
+
+
+ # Solve the problem for a single step
+ solution = study.solve()
+
+
+ # Create two mirrored steps from the single step solution, see API
+ # documentation for use of this utility function
+ two_steps_solution = osim.createPeriodicTrajectory(solution)
+ two_steps_solution.write("walk_2D_two_steps_prediction_solution.sto")
+
+ # Also extract the predicted ground forces, see API documentation for use
+ # of this utility function
+ contact_r = ["contactHeel_r", "contactFront_r"]
+ contact_l = ["contactHeel_l", "contactFront_l"]
+ contact_forces_table = osim.createExternalLoadsTableForGait(model,
+ two_steps_solution, contact_r, contact_l)
+ osim.STOFileAdapter().write(contact_forces_table,
+ "walk_2D_two_steps_prediction_ground_forces.sto")
+
+
+ return study, solution, two_steps_solution
+
+
+
+# %% TRACKING PROBLEM
+
+# Solve the problem and visualise
+tracking_study, tracking_solution, tracking_two_steps_solution = \
+ gait_tracking()
+tracking_study.visualize(tracking_two_steps_solution)
+
+
+
+# %% PREDICTION PROBLEM
+
+# Solve the problem and visualise (uses tracking_solution as initial guess)
+prediction_study, prediction_solution, prediction_two_steps_solution = \
+ gait_prediction(tracking_solution)
+prediction_study.visualize(prediction_two_steps_solution)
+
+
diff --git a/Bindings/Python/examples/example2DWalkingMetabolics.py b/Bindings/Python/examples/example2DWalkingMetabolics.py
new file mode 100644
index 0000000000..88b36600cf
--- /dev/null
+++ b/Bindings/Python/examples/example2DWalkingMetabolics.py
@@ -0,0 +1,219 @@
+# -*- coding: utf-8 -*-
+"""
+MOCO: WALKING 2D EXAMPLE - COORDINATE TRACKING, MINIMISE METABOLIC COST
+
+@author: Prasanna Sritharan, June 2022
+
+This is a Python implementation of an example optimal control
+problem (2D walking) orginally created in C++ by Antoine Falisse
+(see: example2DWalkingMetabolics.cpp) and adapted for Matlab by Brian Umberger
+(see: example2DWalkingMetabolics.m).
+
+This example features a tracking simulation of walking that includes
+minimisation of the metabolic cost of transport computed using a smooth
+approximation of the metabolic energy model of Bhargava et al (2004).
+
+Set a coordinate tracking problem where the goal is to minimize the
+difference between provided and simulated coordinate values and speeds
+as well as to minimize an effort cost (squared controls) and a metabolic
+cost (metabolic energy normalized by distance traveled and body mass;
+the metabolics model is based on a smooth approximation of the
+phenomenological model described by Bhargava et al. (2004)). The provided
+data represents half a gait cycle. Endpoint constraints enforce periodicity
+of the coordinate values (except for pelvis tx) and speeds, coordinate
+actuator controls, and muscle activations.
+"""
+
+
+from math import pi
+import opensim as osim
+
+
+
+# %% SET THE MODEL AND METABOLICS ANALYSIS
+
+# Get the OpenSim model
+model = osim.Model("2D_gait.osim")
+
+# Add a component to calculate metabolics
+metabolics = osim.Bhargava2004SmoothedMuscleMetabolics()
+metabolics.setName("metabolics")
+metabolics.set_use_smoothing(True)
+
+# Add muscles to metabolics component
+leg = ["r", "l"]
+musclist = ["hamstrings", "bifemsh", "glut_max", "iliopsoas", "rect_fem",
+ "vasti", "gastroc", "soleus", "tib_ant"]
+for mc in [m + "_" + l for m in musclist for l in leg]:
+ metabolics.addMuscle(mc, osim.Muscle.safeDownCast(model.getComponent(mc)))
+
+# Add metabolics component to model
+model.addComponent(metabolics)
+model.finalizeConnections()
+
+
+
+# %% DEFINE THE OPTIMAL CONTROL PROBLEM
+
+# Create the tracking problem
+track = osim.MocoTrack()
+track.setName("gait_tracking_met_cost")
+
+# Pass the model to MocoTrack
+modelProcessor = osim.ModelProcessor(model)
+track.setModel(modelProcessor)
+
+# Reference data for coordinate tracking
+tableProcessor = osim.TableProcessor("referenceCoordinates.sto")
+tableProcessor.append(osim.TabOpLowPassFilter(6.0))
+track.setStatesReference(tableProcessor)
+
+# Remaining MocoTrack settings
+track.set_states_global_tracking_weight(30)
+track.set_allow_unused_references(True)
+track.set_track_reference_position_derivatives(True)
+track.set_apply_tracked_states_to_guess(True)
+track.set_initial_time(0.0)
+track.set_final_time(0.47008941)
+
+# Call initialize() to get the internal MocoStudy. The MocoStudy is comprised
+# of a MocoProblem and a MocoSolver. Get the MocoProblem to configure further.
+study = track.initialize()
+problem = study.updProblem()
+
+
+
+# %% SET GOALS
+
+# Symmetry:
+# This goal allows us to simulate only one step with left-right symmetry that
+# we can then double to create two steps, one on each leg (IFO>IFS>CFO>CFS).
+# Note that this is not actually a full gait cycle (IFO>IFS>CFO>CFS>IFO).
+symmetryGoal = osim.MocoPeriodicityGoal("symmetry_goal")
+problem.addGoal(symmetryGoal)
+
+# Enforce periodic symmetry
+model = modelProcessor.process()
+model.initSystem()
+state_names = [model.getStateVariableNames().getitem(sn)
+ for sn in range(model.getNumStateVariables())]
+for sn in state_names:
+
+ # Symmetric coordinate values and speeds (except for pelvis_tx value):
+ # Here we constrain final coordinate values of one leg to match the initial
+ # value of the other leg. Manually add pelvis_tx speed later.
+ if "jointset" in sn:
+ if "_r" in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
+ sn.replace("_r", "_l")))
+ elif "_l" in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
+ sn.replace("_l", "_r")))
+ elif "pelvis_tx" not in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn))
+
+ # Symmetric muscle activations:
+ # Here, we constrain final muscle activation values of one leg to match the
+ # initial activation values of the other leg.
+ elif "activation" in sn:
+ if "_r" in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
+ sn.replace("_r", "_l")))
+ elif "_l" in sn:
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
+ sn.replace("_l", "_r")))
+
+
+# The pelvis_tx speed has periodic symmetry
+symmetryGoal.addStatePair(
+ osim.MocoPeriodicityGoalPair("/jointset/groundPelvis/pelvis_tx/speed"))
+
+# Lumbar control has periodic symmetry. The other controls don't need symmetry
+# enforced as they are all muscle excitations. Their behaviour will be
+# modulated by the periodicity imposed on their respective activations.
+symmetryGoal.addControlPair(osim.MocoPeriodicityGoalPair('/lumbarAct'))
+
+
+# Effort:
+# Get a reference to the MocoControlGoal that is added to a MocoTrack
+# problem by default and adjust the weight
+effort = osim.MocoControlGoal().safeDownCast(problem.updGoal("control_effort"))
+effort.setWeight(0.1)
+
+
+# Metabolic cost:
+# Total metabolic rate includes activation heat rate, maintenance heat rate,
+# shortening heat rate, mechanical work rate, and basal metabolic rate.
+met_weight = 0.1
+metabolicsGoal = osim.MocoOutputGoal("metabolics", met_weight)
+metabolicsGoal.setOutputPath("/metabolics|total_metabolic_rate")
+metabolicsGoal.setDivideByDisplacement(True)
+metabolicsGoal.setDivideByMass(True)
+problem.addGoal(metabolicsGoal)
+
+
+
+# %% SET BOUNDS
+
+# Coordinate bounds as dict
+coord_bounds = {}
+coord_bounds["/jointset/groundPelvis/pelvis_tilt/value"] = [-20*pi/180,
+ -10*pi/180]
+coord_bounds["/jointset/groundPelvis/pelvis_tx/value"] = [0.0, 1.0]
+coord_bounds["/jointset/groundPelvis/pelvis_ty/value"] = [0.75, 1.25]
+coord_bounds["/jointset/hip_r/hip_flexion_r/value"] = [-10*pi/180,
+ 60*pi/180]
+coord_bounds["/jointset/hip_l/hip_flexion_l/value"] = [-10*pi/180,
+ 60*pi/180]
+coord_bounds["/jointset/knee_r/knee_angle_r/value"] = [-50*pi/180, 0]
+coord_bounds["/jointset/knee_l/knee_angle_l/value"] = [-50*pi/180, 0]
+coord_bounds["/jointset/ankle_r/ankle_angle_r/value"] = [-15*pi/180,
+ 25*pi/180]
+coord_bounds["/jointset/ankle_l/ankle_angle_l/value"] = [-15*pi/180,
+ 25*pi/180]
+coord_bounds["/jointset/lumbar/lumbar/value"] = [0, 20*pi/180]
+
+# Set coordinate bounds
+for bnd in coord_bounds:
+ problem.setStateInfo(bnd, coord_bounds[bnd]);
+
+
+
+# %% SOLVE
+
+# Configure the solver
+solver = study.initCasADiSolver()
+solver.set_num_mesh_intervals(50)
+solver.set_verbosity(2)
+solver.set_optim_solver("ipopt")
+solver.set_optim_convergence_tolerance(1e-4)
+solver.set_optim_constraint_tolerance(1e-4)
+solver.set_optim_max_iterations(10000)
+
+# Solve the problem for a single step
+solution = study.solve()
+
+
+# Create two mirrored steps from the single step solution, see API
+# documentation for use of this utility function
+two_steps_solution = osim.createPeriodicTrajectory(solution)
+two_steps_solution.write("walk_2D_metabolics_two_steps_tracking_solution.sto")
+
+# Also extract the predicted ground forces, see API documentation for use of
+# this utility function
+contact_r = ["contactHeel_r", "contactFront_r"]
+contact_l = ["contactHeel_l", "contactFront_l"]
+contact_forces_table = osim.createExternalLoadsTableForGait(model,
+ two_steps_solution, contact_r, contact_l)
+osim.STOFileAdapter().write(contact_forces_table,
+ "walk_2D_metabolics_two_steps_tracking_ground_forces.sto")
+
+
+# Determine the cost of transport from the metabolics cost term. Need to divide
+# by the weight applied earlier.
+COT = solution.getObjectiveTerm("metabolics") / met_weight
+print("\nThe metabolic cost of transport is: %f" % COT)
+
+
+# visualise
+study.visualize(two_steps_solution)
\ No newline at end of file
diff --git a/Bindings/Python/examples/example2DWalkingStepAsymmetry.py b/Bindings/Python/examples/example2DWalkingStepAsymmetry.py
new file mode 100644
index 0000000000..fd8fdfdefe
--- /dev/null
+++ b/Bindings/Python/examples/example2DWalkingStepAsymmetry.py
@@ -0,0 +1,537 @@
+# -*- coding: utf-8 -*-
+"""
+MOCO: WALKING 2D EXAMPLE - STEP ASYMMETRY
+
+@author: Prasanna Sritharan, June 2022
+
+
+This is a Python implementation of an example optimal control problem
+originally written by Russell T. Johnson for Matlab
+(see example2DWalkingStepAsymmetry.m).
+
+Simulate asymmetric gait using MocoStepTimeAsymmetryGoal and
+MocoStepLengthAsymmetryGoal. This is an extension of the example2DWalking
+MATLAB example (see example2DWalking.m for details about model and data used).
+"""
+
+
+from math import pi
+import opensim as osim
+import os
+import numpy as np
+
+
+
+"""
+stepTimeAsymmetry():
+
+Set up a predictive optimization problem where the goal is to minimize an
+effort cost (cubed controls) and hit a target step time asymmetry. Unlike
+example2DWalking, this problem requires simulating a full gait cycle.
+Additionally, endpoint constraints enforce periodicity of the coordinate values
+(except for pelvis tx) and speeds, coordinate actuator controls, and muscle
+activations.
+
+Step time is defined as the time between consecutive foot strikes. Step Time
+Asymmetry (STA) is a ratio and is calculated as follows:
+ - Right Step Time (RST) = Time from left foot-strike to right foot-strike
+ - Left Step Time (LST) = Time from right foot-strike to left foot-strike
+ - STA = (RST - LST) / (RST + LST)
+
+The step time goal works by "counting" the number of nodes that each foot is in
+contact with the ground (with respect to a specified contact force threshold).
+Since, in walking, there are double support phases where both feet are on the
+ground, the goal also detects which foot is in front and assigns the step time
+to the leading foot. Altogether, it estimates the time between consecutive
+heel strikes in order to infer the left and right step times.
+
+The contact elements for each foot must specified via 'setLeftContactGroup()'
+and 'setRightContactGroup()'. The force element and force threshold used to
+determine when a foot is in contact is set via 'setContactForceDirection()' and
+'setContactForceThreshold()'.
+
+Users must provide the target asymmetry value via 'setTargetAsymmetry()'.
+Asymmetry values ranges from -1.0 to 1.0. For example, 0.20 is 20positive
+step time asymmetry with greater right step times than left step times. A
+symmetric step times solution can be achieved by setting this property to zero.
+This goal can be used only in 'cost' mode, where the error between the target
+asymmetry and model asymmetry is squared. To make this goal suitable for
+gradient-based optimization, step time values are assigned via smoothing
+functions which can be controlled via 'setAsymmetrySmoothing()' and
+'setContactDetectionSmoothing()'.
+
+Since this goal doesn't directly compute the step time asymmetry from heel
+strikes, users should confirm that the step time asymmetry from the solution
+matches closely to the target. To do this, we provide the helper function
+computeStepAsymmetryValues() below.
+"""
+def stepTimeAsymmetry():
+
+
+ # **********************************
+ # DEFINE THE OPTIMAL CONTROL PROBLEM
+
+ # Create a MocoStudy
+ study = osim.MocoStudy()
+ study.setName("step_time_asymmetry")
+
+ # Get the model
+ modelProcessor = osim.ModelProcessor("2D_gait.osim")
+ modelProcessor.append(
+ osim.ModOpTendonComplianceDynamicsModeDGF("implicit"))
+
+ # Get the MocoProblem from the MocoStudy and set the model on it
+ problem = study.updProblem()
+ problem.setModelProcessor(modelProcessor)
+
+
+
+ # **********************************
+ # SET GOALS
+
+ # Periodicity:
+ # All states are periodic except pelvis_tx value, lumbar actuator control
+ # is periodic.
+ periodicityGoal = osim.MocoPeriodicityGoal("periodicity")
+ model = modelProcessor.process()
+ model.initSystem()
+ state_names = [model.getStateVariableNames().getitem(sn)
+ for sn in range(model.getNumStateVariables())]
+ for sn in state_names:
+ if "pelvis_tx/value" not in sn:
+ periodicityGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn))
+ periodicityGoal.addControlPair(osim.MocoPeriodicityGoalPair("/lumbarAct"))
+ problem.addGoal(periodicityGoal)
+
+ # Average gait speed
+ speedGoal = osim.MocoAverageSpeedGoal("avg_speed")
+ speedGoal.set_desired_average_speed(1.0)
+ problem.addGoal(speedGoal)
+
+ # Effort
+ effortGoal = osim.MocoControlGoal("effort", 10.0)
+ effortGoal.setExponent(3)
+ effortGoal.setDivideByDisplacement(True)
+ problem.addGoal(effortGoal)
+
+ # Step time asymmetry:
+ # Create the goal, and configure it
+ stepTimeAsymmetryGoal = \
+ osim.MocoStepTimeAsymmetryGoal("step_time_asymmetry")
+ # Value for smoothing term used to compute when foot contact is made
+ # (default = 0.25). Users may need to adjust this based on convergence and
+ # matching the target asymmetry.
+ stepTimeAsymmetryGoal.setContactDetectionSmoothing(0.4)
+ # Contact threshold based on vertical GRF (default = 25 N)
+ stepTimeAsymmetryGoal.setContactForceThreshold(25.0)
+ # Value for smoothing term used to compute asymmetry (default = 10). Users
+ # may need to adjust this based on convergence and matching the target
+ # asymmetry.
+ stepTimeAsymmetryGoal.setAsymmetrySmoothing(3.0)
+ # Target step length asymmetry. Positive values mean greater right step
+ # length than left.
+ stepTimeAsymmetryGoal.setTargetAsymmetry(0.10)
+ # Set goal weight
+ stepTimeAsymmetryGoal.setWeight(5.0)
+ # Need to define the names of the left and right heel spheres: this is
+ # used to detect which foot is in front during double support phase.
+ contact_r = ["contactHeel_r", "contactFront_r"]
+ contact_l = ["contactHeel_l", "contactFront_l"]
+ stepTimeAsymmetryGoal.setRightContactGroup(contact_r, "contactHeel_r")
+ stepTimeAsymmetryGoal.setLeftContactGroup(contact_l, "contactHeel_l")
+ # Add the goal to the problem
+ problem.addGoal(stepTimeAsymmetryGoal)
+
+
+
+ # **********************************
+ # SET BOUNDS
+
+ # Set time bounds
+ problem.setTimeBounds(0.0, 0.94)
+
+ # Coordinate bounds as dict
+ coord_bounds = {}
+ coord_bounds["/jointset/groundPelvis/pelvis_tilt/value"] = [-20*pi/180,
+ 20*pi/180]
+ coord_bounds["/jointset/groundPelvis/pelvis_tx/value"] = [0, 2]
+ coord_bounds["/jointset/groundPelvis/pelvis_ty/value"] = [0.75, 1.25]
+ coord_bounds["/jointset/hip_r/hip_flexion_r/value"] = [-10*pi/180,
+ 60*pi/180]
+ coord_bounds["/jointset/hip_l/hip_flexion_l/value"] = [-10*pi/180,
+ 60*pi/180]
+ coord_bounds["/jointset/knee_r/knee_angle_r/value"] = [-50*pi/180, 0]
+ coord_bounds["/jointset/knee_l/knee_angle_l/value"] = [-50*pi/180, 0]
+ coord_bounds["/jointset/ankle_r/ankle_angle_r/value"] = [-15*pi/180,
+ 25*pi/180]
+ coord_bounds["/jointset/ankle_l/ankle_angle_l/value"] = [-15*pi/180,
+ 25*pi/180]
+ coord_bounds["/jointset/lumbar/lumbar/value"] = [0, 20*pi/180]
+
+ # Set coordinate bounds
+ for bnd in coord_bounds:
+ problem.setStateInfo(bnd, coord_bounds[bnd])
+
+
+
+ # **********************************
+ # SOLVE
+
+ # Configure the solver
+ solver = study.initCasADiSolver()
+ solver.set_num_mesh_intervals(100)
+ solver.set_verbosity(2)
+ solver.set_optim_convergence_tolerance(1e-4)
+ solver.set_optim_constraint_tolerance(1e-4)
+ solver.set_optim_max_iterations(2000)
+
+ # Set the initial guess to be the symmetric two-steps tracking solution
+ # from example2DWalking.py. Run this first, or proceed without a guess.
+ guess_file = "walk_2D_two_steps_tracking_solution.sto"
+ if os.path.isfile(guess_file):
+ solver.setGuessFile(guess_file)
+
+ # Print the Study to file
+ study.printToXML("example2DWalkingStepTimeAsymmetry.omoco")
+
+
+ # Solve
+ solution = study.solve()
+ solution.write("walk_2D_step_time_asym_solution.sto")
+
+
+ # Write predicted GRF to file
+ contact_forces_table = osim.createExternalLoadsTableForGait(model,
+ solution, contact_r, contact_l)
+ osim.STOFileAdapter().write(contact_forces_table,
+ "walk_2D_step_time_asym_ground_forces.sto")
+
+ # Calculate step time asymmetry
+ step_time_asym, _ = computeStepAsymmetry(model, 25,
+ "walk_2D_step_time_asym_solution.sto",
+ "walk_2D_step_time_asym_ground_forces.sto")
+ print("\nStep time asymmetry: %f\n" % step_time_asym)
+
+
+ return study, solution
+
+
+
+"""
+stepLengthAsymmetry():
+
+This goal works by limiting the distance between feet, or "foot frames",
+throughout the gait cycle. The goal calculates the distance between the left
+foot and right foot, then limits the distance between feet to not pass beyond
+minimum (negative) or maximum (positive) bounds. There are two limits used:
+one that limits the distance between feet when the right foot is in front, and
+one that limits the distance between feet when the left foot is in front.
+
+Step Length Asymmetry (SLA) is a ratio and is calculated as follows:
+The Right Step Length (RSL) is the distance between feet at right foot strike
+The Left Step Length (LSL) is the distance between feet at left foot strike
+Step Length Asymmetry = (RSL - LSL)/ (RSL + LSL)
+
+Users must provide the target asymmetry value via 'setTargetAsymmetry()'.
+Asymmetry values ranges from -1.0 to 1.0. For example, 0.20 is 20positive
+step length asymmetry with greater right step length than left step length. A
+symmetric step length solution can be achieved by setting this property to zero.
+This goal can be used only in 'cost' mode, where the error between the target
+asymmetry and model asymmetry is squared. To make this goal suitable for
+gradient-based optimization, step length values are assigned via a smoothing
+function which can be controlled via 'setAsymmetrySmoothing()'.
+
+Users must also prescribed the stride length via 'setStrideLength()'. The goal
+then calculates the minimum and maximum bounds on the distance between right
+and left foot. Users must ensure that this stride length is met via problem
+bounds or other goals; the value provided to MocoStepLengthAsymmetryGoal is
+only used to compute the model's asymmetry in the cost function.
+
+Because this goal doesn't directly compute the step length asymmetry from
+heel strike data, users should confirm that the step length asymmetry
+from the solution matches closely to their target. To do this, we
+provide the helper function computeStepAsymmetryValues() below. Users may
+also want to confirm that the stride length from the optimization
+matches with setStrideLength(), or set additional constraints for stride length
+within the optimization. Additionally, in some cases users may want to set
+target asymmetries above or below the desired value, in the event there is
+some offset.
+"""
+def stepLengthAsymmetry():
+
+
+ # **********************************
+ # DEFINE THE OPTIMAL CONTROL PROBLEM
+
+ # Create a MocoStudy
+ study = osim.MocoStudy()
+ study.setName("step_length_asymmetry")
+
+ # Get the model
+ modelProcessor = osim.ModelProcessor("2D_gait.osim")
+ modelProcessor.append(
+ osim.ModOpTendonComplianceDynamicsModeDGF("implicit"))
+
+ # Get the MocoProblem from the MocoStudy and set the model on it
+ problem = study.updProblem()
+ problem.setModelProcessor(modelProcessor)
+
+
+
+ # **********************************
+ # SET GOALS
+
+ # Periodicity:
+ # All states are periodic except pelvis_tx value, lumbar actuator control
+ # is periodic.
+ periodicityGoal = osim.MocoPeriodicityGoal("periodicity")
+ model = modelProcessor.process()
+ model.initSystem()
+ state_names = [model.getStateVariableNames().getitem(sn)
+ for sn in range(model.getNumStateVariables())]
+ for sn in state_names:
+ if "pelvis_tx/value" not in sn:
+ periodicityGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn))
+ periodicityGoal.addControlPair(osim.MocoPeriodicityGoalPair("/lumbarAct"))
+ problem.addGoal(periodicityGoal)
+
+ # Average gait speed
+ speedGoal = osim.MocoAverageSpeedGoal("avg_speed")
+ speedGoal.set_desired_average_speed(1.0)
+ problem.addGoal(speedGoal)
+
+ # Effort
+ effortGoal = osim.MocoControlGoal("effort", 10.0)
+ effortGoal.setExponent(3)
+ effortGoal.setDivideByDisplacement(True)
+ problem.addGoal(effortGoal)
+
+ # Step length asymmetry:
+ # Create the goal, and configure it
+ stepLengthAsymmetryGoal = osim.MocoStepLengthAsymmetryGoal()
+ # Set body names for left and right foot
+ stepLengthAsymmetryGoal.setRightFootFrame('/bodyset/calcn_r')
+ stepLengthAsymmetryGoal.setLeftFootFrame('/bodyset/calcn_l')
+ # Provide the stride length for the simulation (m)
+ stepLengthAsymmetryGoal.setStrideLength(0.904)
+ # Value for smoothing term used to compute asymmetry (default = 5). Users
+ # may need to adjust this based on convergence and matching the target
+ # asymmetry.
+ stepLengthAsymmetryGoal.setAsymmetrySmoothing(5)
+ # Target step length asymmetry. Positive values mean greater right step
+ # length than left.
+ stepLengthAsymmetryGoal.setTargetAsymmetry(-0.10)
+ # Set goal weight
+ stepLengthAsymmetryGoal.setWeight(5)
+ # Add the goal to the problem
+ problem.addGoal(stepLengthAsymmetryGoal)
+
+
+
+ # **********************************
+ # SET BOUNDS
+
+ # Set time bounds
+ problem.setTimeBounds(0.0, 0.94)
+
+ # Coordinate bounds as dict
+ coord_bounds = {}
+ coord_bounds["/jointset/groundPelvis/pelvis_tilt/value"] = [-20*pi/180,
+ 20*pi/180]
+ coord_bounds["/jointset/groundPelvis/pelvis_tx/value"] = [0, 2]
+ coord_bounds["/jointset/groundPelvis/pelvis_ty/value"] = [0.75, 1.25]
+ coord_bounds["/jointset/hip_r/hip_flexion_r/value"] = [-10*pi/180,
+ 60*pi/180]
+ coord_bounds["/jointset/hip_l/hip_flexion_l/value"] = [-10*pi/180,
+ 60*pi/180]
+ coord_bounds["/jointset/knee_r/knee_angle_r/value"] = [-50*pi/180, 0]
+ coord_bounds["/jointset/knee_l/knee_angle_l/value"] = [-50*pi/180, 0]
+ coord_bounds["/jointset/ankle_r/ankle_angle_r/value"] = [-15*pi/180,
+ 25*pi/180]
+ coord_bounds["/jointset/ankle_l/ankle_angle_l/value"] = [-15*pi/180,
+ 25*pi/180]
+ coord_bounds["/jointset/lumbar/lumbar/value"] = [0, 20*pi/180]
+
+ # Set coordinate bounds
+ for bnd in coord_bounds:
+ problem.setStateInfo(bnd, coord_bounds[bnd])
+
+
+
+ # **********************************
+ # SOLVE
+
+ # Configure the solver
+ solver = study.initCasADiSolver()
+ solver.set_num_mesh_intervals(100)
+ solver.set_verbosity(2)
+ solver.set_optim_convergence_tolerance(1e-4)
+ solver.set_optim_constraint_tolerance(1e-4)
+ solver.set_optim_max_iterations(2000)
+
+ # Set the initial guess to be the symmetric two-steps tracking solution
+ # from example2DWalking.py. Run this first, or proceed without a guess.
+ guess_file = "walk_2D_two_steps_tracking_solution.sto"
+ if os.path.isfile(guess_file):
+ solver.setGuessFile(guess_file)
+
+ # Print the Study to file
+ study.printToXML("example2DWalkingStepLengthAsymmetry.omoco")
+
+
+ # Solve
+ solution = study.solve()
+ solution.write("walk_2D_step_length_asym_solution.sto")
+
+ # Write predicted GRF to file
+ contact_r = ["contactHeel_r", "contactFront_r"]
+ contact_l = ["contactHeel_l", "contactFront_l"]
+ contact_forces_table = osim.createExternalLoadsTableForGait(model,
+ solution, contact_r, contact_l)
+ osim.STOFileAdapter().write(contact_forces_table,
+ "walk_2D_step_length_asym_ground_forces.sto")
+
+ # Calculate step time asymmetry
+ _, step_length_asym = computeStepAsymmetry(model, 25,
+ "walk_2D_step_length_asym_solution.sto",
+ "walk_2D_step_length_asym_ground_forces.sto")
+ print("\nStep length asymmetry: %f\n" % step_length_asym)
+
+
+ return study, solution
+
+
+
+"""
+computeStepAsymmetry():
+
+Calculate the values of the step length and step time asymmetry from the
+results of the simulation.
+"""
+def computeStepAsymmetry(model_file, threshold, solution_file, grf_file):
+
+ # Load model
+ model = osim.Model(model_file)
+
+ # Load predicted GRF
+ grf = np.genfromtxt(grf_file, skip_header=5, delimiter="\t")
+
+ # GRF time vector and vertical components
+ tvec = grf[:, 0]
+
+
+ # **********************************
+ # STEP TIME ASYMMETRY
+
+ # Find index of heel strike on each leg
+ hs_idxR = findHeelStrikeIndex(grf[:, 2], threshold)
+ hs_idxL = findHeelStrikeIndex(grf[:, 8], threshold)
+
+ # Compute step time on each leg
+ hs_timeR = tvec[hs_idxR]
+ hs_timeL = tvec[hs_idxL]
+ if hs_timeR < hs_timeL:
+ step_timeL = hs_timeL - hs_timeR
+ step_timeR = tvec[-1] - step_timeL
+ else:
+ step_timeR = hs_timeR - hs_timeL
+ step_timeL = tvec[-1] - step_timeR
+
+ # Calculate step time asymmetry (%)
+ step_time_asym = 100 * (step_timeR - step_timeL) \
+ / (step_timeR + step_timeL)
+
+
+ # **********************************
+ # STEP LENGTH ASYMMETRY
+
+ # Get the states for each limb at the instant of heel strike on that limb
+ states_traj = osim.StatesTrajectory().createFromStatesTable(model,
+ osim.TimeSeriesTable(solution_file), False, True, True)
+ statesR = states_traj.get(hs_idxR)
+ statesL = states_traj.get(hs_idxL)
+
+ # Calculate the step length
+ step_lengthR = calculateStepLength(model, statesR)
+ step_lengthL = calculateStepLength(model, statesL)
+
+ # Calculate step length asymmetry (%)
+ step_length_asym = 100 * (step_lengthR - step_lengthL) \
+ / (step_lengthR + step_lengthL)
+
+
+ return step_time_asym, step_length_asym
+
+
+
+"""
+findHeelStrikeIndex():
+
+Find heel strike index by determining foot contact on-off instances. If no
+heel strike is found, then assume first index is heel strike. This
+implementation differs from that of Russell T. Johnson's Matlab version, but
+follows the same prinicples.
+"""
+def findHeelStrikeIndex(grfy, threshold):
+
+ # Find windows representing ground contact
+ is_contact = (grfy > threshold).astype(int)
+
+ # Calculate transition points, i.e. heel strike (1) and foot off (-1)
+ contact_diff = np.diff(np.insert(is_contact, 0, 1))
+
+ # Extract heel strike and foot off indices. If no heel strike found,
+ # assume first index is heel strike.
+ idxs = np.where(contact_diff == 1)[0]
+ if idxs.size == 0:
+ idx = 0
+ else:
+ idx = idxs[0]
+
+ return int(idx)
+
+
+
+"""
+calculateStepLength():
+
+Find step length by configuring the model at heel strike, then compute distance
+between contact spheres along the fore-aft coordinate.
+"""
+def calculateStepLength(model, state):
+
+ # Configure the model at heel strike
+ model.initSystem()
+ model.realizePosition(state)
+
+ # Get the heel contact spheres
+ contact_r = model.getContactGeometrySet().get("heel_r")
+ contact_l = model.getContactGeometrySet().get("heel_l")
+
+ # Find the positions of the contact spheres in the global frame
+ pos_r = contact_r.getFrame().getPositionInGround(state)
+ pos_l = contact_l.getFrame().getPositionInGround(state)
+
+ # Step length is the difference between global position of the left and
+ # right along the fore-aft coordinate (x)
+ step_length = abs(pos_r.get(0) - pos_l.get(0))
+
+ return step_length
+
+
+
+
+# %% STEP TIME ASYMMETRY
+
+# Solve and visualise
+step_time_study, step_time_solution = stepTimeAsymmetry()
+step_time_study.visualize(step_time_solution)
+
+
+
+# %% STEP LENGTH ASYMMETRY
+
+# Solve and visualise
+step_length_study, step_length_solution = stepLengthAsymmetry()
+step_length_study.visualize(step_length_solution)
+
From c50b1bd2f974114fe007a1f34d8634cdd7e20bd8 Mon Sep 17 00:00:00 2001
From: psbiomech <psbiomech@gmail.com>
Date: Mon, 27 Jun 2022 15:52:47 +1000
Subject: [PATCH 5/8] Delete example2DWalking.py
---
Bindings/Python/examples/example2DWalking.py | 416 -------------------
1 file changed, 416 deletions(-)
delete mode 100644 Bindings/Python/examples/example2DWalking.py
diff --git a/Bindings/Python/examples/example2DWalking.py b/Bindings/Python/examples/example2DWalking.py
deleted file mode 100644
index 4a788cd379..0000000000
--- a/Bindings/Python/examples/example2DWalking.py
+++ /dev/null
@@ -1,416 +0,0 @@
-# -*- coding: utf-8 -*-
-"""
-MOCO: WALKING 2D EXAMPLE - TRACKING & PREDICTION
-
-@author: Prasanna Sritharan, June 2022
-
-This is a Python implementation of an example optimal control
-problem (2D walking) orginally created in C++ by Antoine Falisse
-(see: example2DWalking.cpp) and adapted for Matlab by Brian Umberger
-(see: example2DWalking.m).
-"""
-
-from math import pi
-import opensim as osim
-
-
-
-
-"""
-gait_tracking():
-Set up a coordinate tracking problem where the goal is to minimize the
-difference between provided and simulated coordinate values and speeds (and
-ground reaction forces), as well as to minimize an effort cost (squared
-controls). The provided data represents one step. Endpoint constraints
-enforce periodicity of the coordinate values (except for pelvis tx) and speeds,
-coordinate actuator controls, and muscle activations.
-"""
-def gait_tracking():
-
-
-
- # **********************************
- # DEFINE THE OPTIMAL CONTROL PROBLEM
-
- # Create tracking problem
- track = osim.MocoTrack()
- track.setName("gait_tracking")
-
- # Construct a ModelProcessor and set it on the tool
- modelProcessor = osim.ModelProcessor("2D_gait.osim")
- track.setModel(modelProcessor)
-
-
- # Get the coordinates into a TableProcessor
- tableProcessor = osim.TableProcessor("referenceCoordinates.sto")
- tableProcessor.append(osim.TabOpLowPassFilter(6.0))
-
- # Set the coordinates as the reference states
- track.setStatesReference(tableProcessor)
- track.set_allow_unused_references(True)
-
- # Only coordinates are provided so derive to get speeds and track these too
- track.set_track_reference_position_derivatives(True)
-
- # use coordinates and speeds for initial guess
- track.set_apply_tracked_states_to_guess(True)
-
- # Define the global state tracking weight
- track.set_states_global_tracking_weight(1.0)
-
-
- # Set initial time, final time and mesh interval
- track.set_initial_time(0.0)
- track.set_final_time(0.47008941)
-
- # Call initialize() to receive a pre-configured MocoStudy object based on
- # the settings above. Use this to customize the problem beyond the
- # Mocotrack interface.
- study = track.initialize()
-
- # Get a writable reference to the MocoProblem from the MocoStudy to perform
- # more customisation
- problem = study.updProblem()
-
-
-
- # **********************************
- # SET GOALS
-
- # Symmetry:
- # This goal allows us to simulate only one step with left-right symmetry
- # that we can then double to create two steps, one on each leg
- # (IFO>IFS>CFO>CFS). Note that this is not actually a full gait cycle
- # (IFO>IFS>CFO>CFS>IFO).
- symmetryGoal = osim.MocoPeriodicityGoal("symmetry_goal")
- problem.addGoal(symmetryGoal)
-
- # Enforce periodic symmetry
- model = modelProcessor.process()
- model.initSystem()
- state_names = [model.getStateVariableNames().getitem(sn)
- for sn in range(model.getNumStateVariables())]
- for sn in state_names:
-
- # Symmetric coordinate values and speeds (except for pelvis_tx value):
- # Here we constrain final coordinate values of one leg to match the
- # initial value of the other leg. Manually add pelvis_tx speed later.
- if "jointset" in sn:
- if "_r" in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
- sn.replace("_r", "_l")))
- elif "_l" in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
- sn.replace("_l", "_r")))
- elif "pelvis_tx" not in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn))
-
- # Symmetric muscle activations:
- # Here, we constrain final muscle activation values of one leg to match
- # the initial activation values of the other leg.
- elif "activation" in sn:
- if "_r" in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
- sn.replace("_r", "_l")))
- elif "_l" in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
- sn.replace("_l", "_r")))
-
-
- # The pelvis_tx speed has periodic symmetry
- symmetryGoal.addStatePair(
- osim.MocoPeriodicityGoalPair("/jointset/groundPelvis/pelvis_tx/speed"))
-
- # Lumbar control has periodic symmetry. The other controls don't need
- # symmetry enforced as they are all muscle excitations. Their behaviour
- # will be contstrained by the periodicity imposed on their respective
- # activations.
- symmetryGoal.addControlPair(osim.MocoPeriodicityGoalPair('/lumbarAct'))
-
-
- # Effort:
- # Get a reference to the MocoControlGoal that is added to a MocoTrack
- # problem by default and adjust the weight
- effort = osim.MocoControlGoal.safeDownCast(
- problem.updGoal("control_effort"))
- effort.setWeight(10.0)
-
-
- # Ground contact:
- # Track the left and right vertical and fore-aft GRFs
- contact_r = ["contactHeel_r", "contactFront_r"]
- contact_l = ["contactHeel_l", "contactFront_l"]
- grf_tracking_weight = 1
- if grf_tracking_weight != 0:
-
- # Create a contact tracking goal
- contactTracking = osim.MocoContactTrackingGoal("contact",
- grf_tracking_weight)
- contactTracking.setExternalLoadsFile("referenceGRF.xml")
-
- # Add contact groups. The sum of all the contact forces in each group
- # should track the force data from a single ExternalForce
- contactTracking.addContactGroup(contact_r, "Right_GRF")
- contactTracking.addContactGroup(contact_l, "Left_GRF")
-
- # 2D walking problem so consider force errors in the sagittal plane
- contactTracking.setProjection("plane")
- contactTracking.setProjectionVector(osim.Vec3(0, 0, 1))
-
- # add the goal to the MocoProblem
- problem.addGoal(contactTracking)
-
-
-
- # **********************************
- # SET BOUNDS
-
- # Coordinate bounds as dict
- coord_bounds = {}
- coord_bounds["/jointset/groundPelvis/pelvis_tilt/value"] = [-20*pi/180,
- -10*pi/180]
- coord_bounds["/jointset/groundPelvis/pelvis_tx/value"] = [0.0, 1.0]
- coord_bounds["/jointset/groundPelvis/pelvis_ty/value"] = [0.75, 1.25]
- coord_bounds["/jointset/hip_r/hip_flexion_r/value"] = [-10*pi/180,
- 60*pi/180]
- coord_bounds["/jointset/hip_l/hip_flexion_l/value"] = [-10*pi/180,
- 60*pi/180]
- coord_bounds["/jointset/knee_r/knee_angle_r/value"] = [-50*pi/180, 0]
- coord_bounds["/jointset/knee_l/knee_angle_l/value"] = [-50*pi/180, 0]
- coord_bounds["/jointset/ankle_r/ankle_angle_r/value"] = [-15*pi/180,
- 25*pi/180]
- coord_bounds["/jointset/ankle_l/ankle_angle_l/value"] = [-15*pi/180,
- 25*pi/180]
- coord_bounds["/jointset/lumbar/lumbar/value"] = [0, 20*pi/180]
-
- # Set coordinate bounds
- for bnd in coord_bounds:
- problem.setStateInfo(bnd, coord_bounds[bnd]);
-
-
-
- # **********************************
- # SOLVE
-
- # The Solver is pre-configured, however, uncomment below to configure
- # further if desired. This gets a writable reference to the Solver, for
- # custom configuration.
- # solver = study.updSolver()
- # solver.set_num_mesh_intervals(50);
- # solver.set_verbosity(2);
- # solver.set_optim_solver("ipopt");
- # solver.set_optim_convergence_tolerance(1e-4);
- # solver.set_optim_constraint_tolerance(1e-4);
- # solver.set_optim_max_iterations(1000);
-
-
- # Solve the problem for a single step
- solution = study.solve()
-
-
- # Create two mirrored steps from the single step solution, see API
- # documentation for use of this utility function
- two_steps_solution = osim.createPeriodicTrajectory(solution)
- two_steps_solution.write("walk_2D_two_steps_tracking_solution.sto")
-
- # Also extract the predicted ground forces, see API documentation for use
- # of this utility function
- contact_forces_table = osim.createExternalLoadsTableForGait(model,
- two_steps_solution, contact_r, contact_l)
- osim.STOFileAdapter().write(contact_forces_table,
- "walk_2D_two_steps_tracking_ground_forces.sto")
-
-
- return study, solution, two_steps_solution
-
-
-
-
-"""
-gait_prediction(tracking_solution):
-Set up a gait prediction problem where the goal is to minimize effort
-(squared controls) divided by distance traveled while enforcing symmetry of
-the walking cycle and a prescribed average gait speed through endpoint
-constraints. The solution of the coordinate tracking problem is used as an
-initial guess for the prediction.
-"""
-def gait_prediction(tracking_solution):
-
-
-
- # **********************************
- # DEFINE THE OPTIMAL CONTROL PROBLEM
-
- # Create predcition problem
- study = osim.MocoStudy()
- study.setName("gait_prediciton")
-
- # Get a writable reference to the MocoProblem from the MocoStudy to
- # customise the problem settings
- problem = study.updProblem()
-
- # Construct a ModelProcessor and set it on the Problem
- modelProcessor = osim.ModelProcessor("2D_gait.osim")
- problem.setModelProcessor(modelProcessor)
-
-
-
- # **********************************
- # SET GOALS
-
- # Symmetry: This goal allows us to simulate only one step with left-right
- # symmetry that we can then double to create two steps, one on each leg
- # (IFO>IFS>CFO>CFS). Note that this is not actually a full gait cycle
- # (IFO>IFS>CFO>CFS>IFO)
- symmetryGoal = osim.MocoPeriodicityGoal("symmetry_goal")
- problem.addGoal(symmetryGoal)
-
-
- # Enforce periodic symmetry
- model = modelProcessor.process()
- model.initSystem()
- state_names = [model.getStateVariableNames().getitem(sn)
- for sn in range(model.getNumStateVariables())]
- for sn in state_names:
-
- # Symmetric coordinate values and speeds (except for pelvis_tx value):
- # Here we constrain final coordinate values of one leg to match the
- # initial value of the other leg. Manually add pelvis_tx speed later.
- if "jointset" in sn:
- if "_r" in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
- sn.replace("_r", "_l")))
- elif "_l" in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
- sn.replace("_l", "_r")))
- elif "pelvis_tx" not in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn))
-
- # Symmetric muscle activations:
- # Here, we constrain final muscle activation values of one leg to match
- # the initial activation values of the other leg.
- elif "activation" in sn:
- if "_r" in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
- sn.replace("_r", "_l")))
- elif "_l" in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
- sn.replace("_l", "_r")))
-
- # The pelvis_tx speed has periodic symmetry
- symmetryGoal.addStatePair(
- osim.MocoPeriodicityGoalPair("/jointset/groundPelvis/pelvis_tx/speed"))
-
- # Lumbar control has periodic symmetry. The other controls don't need
- # symmetry enforces as they are all muscle excitations. Their behaviour
- # will be modulated by the periodicity imposed on their activations.
- symmetryGoal.addControlPair(osim.MocoPeriodicityGoalPair('/lumbarAct'))
-
- # Specify the desired average walk speed, add as a goal
- speedGoal = osim.MocoAverageSpeedGoal('avg_speed')
- speedGoal.set_desired_average_speed(1.2)
- problem.addGoal(speedGoal)
-
- # Minimise total "effort" over the distance, i.e. minimise sum of the
- # absolute values of all controls raised to a given exponent, integrated
- # over the phase. In a MocoTrack problem, this is automatically added,
- # however, in this predictive problem, we have created a MocoStudy from
- # scratch, so we need to add this goal manually to the Problem. The second
- # input argument to the constructor is the weight applied to this goal.
- # We also normalise the effort by the distance travelled.
- effortGoal = osim.MocoControlGoal('effort', 10)
- effortGoal.setExponent(3)
- effortGoal.setDivideByDisplacement(True)
- problem.addGoal(effortGoal)
-
-
-
- # **********************************
- # SET BOUNDS
-
- # set time bounds
- problem.setTimeBounds(0, [0.4, 0.6])
-
-
- # Coordinate bounds as dict
- coord_bounds = {}
- coord_bounds["/jointset/groundPelvis/pelvis_tilt/value"] = [-20*pi/180,
- -10*pi/180]
- coord_bounds["/jointset/groundPelvis/pelvis_tx/value"] = [0.0, 1.0]
- coord_bounds["/jointset/groundPelvis/pelvis_ty/value"] = [0.75, 1.25]
- coord_bounds["/jointset/hip_r/hip_flexion_r/value"] = [-10*pi/180,
- 60*pi/180]
- coord_bounds["/jointset/hip_l/hip_flexion_l/value"] = [-10*pi/180,
- 60*pi/180]
- coord_bounds["/jointset/knee_r/knee_angle_r/value"] = [-50*pi/180, 0]
- coord_bounds["/jointset/knee_l/knee_angle_l/value"] = [-50*pi/180, 0]
- coord_bounds["/jointset/ankle_r/ankle_angle_r/value"] = [-15*pi/180,
- 25*pi/180]
- coord_bounds["/jointset/ankle_l/ankle_angle_l/value"] = [-15*pi/180,
- 25*pi/180]
- coord_bounds["/jointset/lumbar/lumbar/value"] = [0, 20*pi/180]
-
- # Set coordinate bounds
- for bnd in coord_bounds:
- problem.setStateInfo(bnd, coord_bounds[bnd])
-
-
-
- # **********************************
- # SOLVE
-
- # Configure the solver. In the tracking problem, the solver was
- # pre-configured, using MocoTrack, however, as we have created a MocoStudy
- # from scratch, we need to initialise the MocoSolver and configure it.
- solver = study.initCasADiSolver()
- solver.set_num_mesh_intervals(50)
- solver.set_verbosity(2)
- solver.set_optim_solver("ipopt")
- solver.set_optim_convergence_tolerance(1e-4)
- solver.set_optim_constraint_tolerance(1e-4)
- solver.set_optim_max_iterations(1000)
-
- # Set the tracking solution for one step as the initial guess
- solver.setGuess(tracking_solution)
-
-
- # Solve the problem for a single step
- solution = study.solve()
-
-
- # Create two mirrored steps from the single step solution, see API
- # documentation for use of this utility function
- two_steps_solution = osim.createPeriodicTrajectory(solution)
- two_steps_solution.write("walk_2D_two_steps_prediction_solution.sto")
-
- # Also extract the predicted ground forces, see API documentation for use
- # of this utility function
- contact_r = ["contactHeel_r", "contactFront_r"]
- contact_l = ["contactHeel_l", "contactFront_l"]
- contact_forces_table = osim.createExternalLoadsTableForGait(model,
- two_steps_solution, contact_r, contact_l)
- osim.STOFileAdapter().write(contact_forces_table,
- "walk_2D_two_steps_prediction_ground_forces.sto")
-
-
- return study, solution, two_steps_solution
-
-
-
-# %% TRACKING PROBLEM
-
-# Solve the problem and visualise
-tracking_study, tracking_solution, tracking_two_steps_solution = \
- gait_tracking()
-tracking_study.visualize(tracking_two_steps_solution)
-
-
-
-# %% PREDICTION PROBLEM
-
-# Solve the problem and visualise (uses tracking_solution as initial guess)
-prediction_study, prediction_solution, prediction_two_steps_solution = \
- gait_prediction(tracking_solution)
-prediction_study.visualize(prediction_two_steps_solution)
-
-
From 1c8353b10c8333eac30ed790ae750ff9e66aabdf Mon Sep 17 00:00:00 2001
From: psbiomech <psbiomech@gmail.com>
Date: Mon, 27 Jun 2022 15:52:59 +1000
Subject: [PATCH 6/8] Delete example2DWalkingMetabolics.py
---
.../examples/example2DWalkingMetabolics.py | 219 ------------------
1 file changed, 219 deletions(-)
delete mode 100644 Bindings/Python/examples/example2DWalkingMetabolics.py
diff --git a/Bindings/Python/examples/example2DWalkingMetabolics.py b/Bindings/Python/examples/example2DWalkingMetabolics.py
deleted file mode 100644
index 88b36600cf..0000000000
--- a/Bindings/Python/examples/example2DWalkingMetabolics.py
+++ /dev/null
@@ -1,219 +0,0 @@
-# -*- coding: utf-8 -*-
-"""
-MOCO: WALKING 2D EXAMPLE - COORDINATE TRACKING, MINIMISE METABOLIC COST
-
-@author: Prasanna Sritharan, June 2022
-
-This is a Python implementation of an example optimal control
-problem (2D walking) orginally created in C++ by Antoine Falisse
-(see: example2DWalkingMetabolics.cpp) and adapted for Matlab by Brian Umberger
-(see: example2DWalkingMetabolics.m).
-
-This example features a tracking simulation of walking that includes
-minimisation of the metabolic cost of transport computed using a smooth
-approximation of the metabolic energy model of Bhargava et al (2004).
-
-Set a coordinate tracking problem where the goal is to minimize the
-difference between provided and simulated coordinate values and speeds
-as well as to minimize an effort cost (squared controls) and a metabolic
-cost (metabolic energy normalized by distance traveled and body mass;
-the metabolics model is based on a smooth approximation of the
-phenomenological model described by Bhargava et al. (2004)). The provided
-data represents half a gait cycle. Endpoint constraints enforce periodicity
-of the coordinate values (except for pelvis tx) and speeds, coordinate
-actuator controls, and muscle activations.
-"""
-
-
-from math import pi
-import opensim as osim
-
-
-
-# %% SET THE MODEL AND METABOLICS ANALYSIS
-
-# Get the OpenSim model
-model = osim.Model("2D_gait.osim")
-
-# Add a component to calculate metabolics
-metabolics = osim.Bhargava2004SmoothedMuscleMetabolics()
-metabolics.setName("metabolics")
-metabolics.set_use_smoothing(True)
-
-# Add muscles to metabolics component
-leg = ["r", "l"]
-musclist = ["hamstrings", "bifemsh", "glut_max", "iliopsoas", "rect_fem",
- "vasti", "gastroc", "soleus", "tib_ant"]
-for mc in [m + "_" + l for m in musclist for l in leg]:
- metabolics.addMuscle(mc, osim.Muscle.safeDownCast(model.getComponent(mc)))
-
-# Add metabolics component to model
-model.addComponent(metabolics)
-model.finalizeConnections()
-
-
-
-# %% DEFINE THE OPTIMAL CONTROL PROBLEM
-
-# Create the tracking problem
-track = osim.MocoTrack()
-track.setName("gait_tracking_met_cost")
-
-# Pass the model to MocoTrack
-modelProcessor = osim.ModelProcessor(model)
-track.setModel(modelProcessor)
-
-# Reference data for coordinate tracking
-tableProcessor = osim.TableProcessor("referenceCoordinates.sto")
-tableProcessor.append(osim.TabOpLowPassFilter(6.0))
-track.setStatesReference(tableProcessor)
-
-# Remaining MocoTrack settings
-track.set_states_global_tracking_weight(30)
-track.set_allow_unused_references(True)
-track.set_track_reference_position_derivatives(True)
-track.set_apply_tracked_states_to_guess(True)
-track.set_initial_time(0.0)
-track.set_final_time(0.47008941)
-
-# Call initialize() to get the internal MocoStudy. The MocoStudy is comprised
-# of a MocoProblem and a MocoSolver. Get the MocoProblem to configure further.
-study = track.initialize()
-problem = study.updProblem()
-
-
-
-# %% SET GOALS
-
-# Symmetry:
-# This goal allows us to simulate only one step with left-right symmetry that
-# we can then double to create two steps, one on each leg (IFO>IFS>CFO>CFS).
-# Note that this is not actually a full gait cycle (IFO>IFS>CFO>CFS>IFO).
-symmetryGoal = osim.MocoPeriodicityGoal("symmetry_goal")
-problem.addGoal(symmetryGoal)
-
-# Enforce periodic symmetry
-model = modelProcessor.process()
-model.initSystem()
-state_names = [model.getStateVariableNames().getitem(sn)
- for sn in range(model.getNumStateVariables())]
-for sn in state_names:
-
- # Symmetric coordinate values and speeds (except for pelvis_tx value):
- # Here we constrain final coordinate values of one leg to match the initial
- # value of the other leg. Manually add pelvis_tx speed later.
- if "jointset" in sn:
- if "_r" in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
- sn.replace("_r", "_l")))
- elif "_l" in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
- sn.replace("_l", "_r")))
- elif "pelvis_tx" not in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn))
-
- # Symmetric muscle activations:
- # Here, we constrain final muscle activation values of one leg to match the
- # initial activation values of the other leg.
- elif "activation" in sn:
- if "_r" in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
- sn.replace("_r", "_l")))
- elif "_l" in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
- sn.replace("_l", "_r")))
-
-
-# The pelvis_tx speed has periodic symmetry
-symmetryGoal.addStatePair(
- osim.MocoPeriodicityGoalPair("/jointset/groundPelvis/pelvis_tx/speed"))
-
-# Lumbar control has periodic symmetry. The other controls don't need symmetry
-# enforced as they are all muscle excitations. Their behaviour will be
-# modulated by the periodicity imposed on their respective activations.
-symmetryGoal.addControlPair(osim.MocoPeriodicityGoalPair('/lumbarAct'))
-
-
-# Effort:
-# Get a reference to the MocoControlGoal that is added to a MocoTrack
-# problem by default and adjust the weight
-effort = osim.MocoControlGoal().safeDownCast(problem.updGoal("control_effort"))
-effort.setWeight(0.1)
-
-
-# Metabolic cost:
-# Total metabolic rate includes activation heat rate, maintenance heat rate,
-# shortening heat rate, mechanical work rate, and basal metabolic rate.
-met_weight = 0.1
-metabolicsGoal = osim.MocoOutputGoal("metabolics", met_weight)
-metabolicsGoal.setOutputPath("/metabolics|total_metabolic_rate")
-metabolicsGoal.setDivideByDisplacement(True)
-metabolicsGoal.setDivideByMass(True)
-problem.addGoal(metabolicsGoal)
-
-
-
-# %% SET BOUNDS
-
-# Coordinate bounds as dict
-coord_bounds = {}
-coord_bounds["/jointset/groundPelvis/pelvis_tilt/value"] = [-20*pi/180,
- -10*pi/180]
-coord_bounds["/jointset/groundPelvis/pelvis_tx/value"] = [0.0, 1.0]
-coord_bounds["/jointset/groundPelvis/pelvis_ty/value"] = [0.75, 1.25]
-coord_bounds["/jointset/hip_r/hip_flexion_r/value"] = [-10*pi/180,
- 60*pi/180]
-coord_bounds["/jointset/hip_l/hip_flexion_l/value"] = [-10*pi/180,
- 60*pi/180]
-coord_bounds["/jointset/knee_r/knee_angle_r/value"] = [-50*pi/180, 0]
-coord_bounds["/jointset/knee_l/knee_angle_l/value"] = [-50*pi/180, 0]
-coord_bounds["/jointset/ankle_r/ankle_angle_r/value"] = [-15*pi/180,
- 25*pi/180]
-coord_bounds["/jointset/ankle_l/ankle_angle_l/value"] = [-15*pi/180,
- 25*pi/180]
-coord_bounds["/jointset/lumbar/lumbar/value"] = [0, 20*pi/180]
-
-# Set coordinate bounds
-for bnd in coord_bounds:
- problem.setStateInfo(bnd, coord_bounds[bnd]);
-
-
-
-# %% SOLVE
-
-# Configure the solver
-solver = study.initCasADiSolver()
-solver.set_num_mesh_intervals(50)
-solver.set_verbosity(2)
-solver.set_optim_solver("ipopt")
-solver.set_optim_convergence_tolerance(1e-4)
-solver.set_optim_constraint_tolerance(1e-4)
-solver.set_optim_max_iterations(10000)
-
-# Solve the problem for a single step
-solution = study.solve()
-
-
-# Create two mirrored steps from the single step solution, see API
-# documentation for use of this utility function
-two_steps_solution = osim.createPeriodicTrajectory(solution)
-two_steps_solution.write("walk_2D_metabolics_two_steps_tracking_solution.sto")
-
-# Also extract the predicted ground forces, see API documentation for use of
-# this utility function
-contact_r = ["contactHeel_r", "contactFront_r"]
-contact_l = ["contactHeel_l", "contactFront_l"]
-contact_forces_table = osim.createExternalLoadsTableForGait(model,
- two_steps_solution, contact_r, contact_l)
-osim.STOFileAdapter().write(contact_forces_table,
- "walk_2D_metabolics_two_steps_tracking_ground_forces.sto")
-
-
-# Determine the cost of transport from the metabolics cost term. Need to divide
-# by the weight applied earlier.
-COT = solution.getObjectiveTerm("metabolics") / met_weight
-print("\nThe metabolic cost of transport is: %f" % COT)
-
-
-# visualise
-study.visualize(two_steps_solution)
\ No newline at end of file
From 574bbfa5553f6bf79c788e9604e2a6bf81aa16b1 Mon Sep 17 00:00:00 2001
From: psbiomech <psbiomech@gmail.com>
Date: Mon, 27 Jun 2022 15:53:10 +1000
Subject: [PATCH 7/8] Delete example2DWalkingStepAsymmetry.py
---
.../examples/example2DWalkingStepAsymmetry.py | 537 ------------------
1 file changed, 537 deletions(-)
delete mode 100644 Bindings/Python/examples/example2DWalkingStepAsymmetry.py
diff --git a/Bindings/Python/examples/example2DWalkingStepAsymmetry.py b/Bindings/Python/examples/example2DWalkingStepAsymmetry.py
deleted file mode 100644
index fd8fdfdefe..0000000000
--- a/Bindings/Python/examples/example2DWalkingStepAsymmetry.py
+++ /dev/null
@@ -1,537 +0,0 @@
-# -*- coding: utf-8 -*-
-"""
-MOCO: WALKING 2D EXAMPLE - STEP ASYMMETRY
-
-@author: Prasanna Sritharan, June 2022
-
-
-This is a Python implementation of an example optimal control problem
-originally written by Russell T. Johnson for Matlab
-(see example2DWalkingStepAsymmetry.m).
-
-Simulate asymmetric gait using MocoStepTimeAsymmetryGoal and
-MocoStepLengthAsymmetryGoal. This is an extension of the example2DWalking
-MATLAB example (see example2DWalking.m for details about model and data used).
-"""
-
-
-from math import pi
-import opensim as osim
-import os
-import numpy as np
-
-
-
-"""
-stepTimeAsymmetry():
-
-Set up a predictive optimization problem where the goal is to minimize an
-effort cost (cubed controls) and hit a target step time asymmetry. Unlike
-example2DWalking, this problem requires simulating a full gait cycle.
-Additionally, endpoint constraints enforce periodicity of the coordinate values
-(except for pelvis tx) and speeds, coordinate actuator controls, and muscle
-activations.
-
-Step time is defined as the time between consecutive foot strikes. Step Time
-Asymmetry (STA) is a ratio and is calculated as follows:
- - Right Step Time (RST) = Time from left foot-strike to right foot-strike
- - Left Step Time (LST) = Time from right foot-strike to left foot-strike
- - STA = (RST - LST) / (RST + LST)
-
-The step time goal works by "counting" the number of nodes that each foot is in
-contact with the ground (with respect to a specified contact force threshold).
-Since, in walking, there are double support phases where both feet are on the
-ground, the goal also detects which foot is in front and assigns the step time
-to the leading foot. Altogether, it estimates the time between consecutive
-heel strikes in order to infer the left and right step times.
-
-The contact elements for each foot must specified via 'setLeftContactGroup()'
-and 'setRightContactGroup()'. The force element and force threshold used to
-determine when a foot is in contact is set via 'setContactForceDirection()' and
-'setContactForceThreshold()'.
-
-Users must provide the target asymmetry value via 'setTargetAsymmetry()'.
-Asymmetry values ranges from -1.0 to 1.0. For example, 0.20 is 20positive
-step time asymmetry with greater right step times than left step times. A
-symmetric step times solution can be achieved by setting this property to zero.
-This goal can be used only in 'cost' mode, where the error between the target
-asymmetry and model asymmetry is squared. To make this goal suitable for
-gradient-based optimization, step time values are assigned via smoothing
-functions which can be controlled via 'setAsymmetrySmoothing()' and
-'setContactDetectionSmoothing()'.
-
-Since this goal doesn't directly compute the step time asymmetry from heel
-strikes, users should confirm that the step time asymmetry from the solution
-matches closely to the target. To do this, we provide the helper function
-computeStepAsymmetryValues() below.
-"""
-def stepTimeAsymmetry():
-
-
- # **********************************
- # DEFINE THE OPTIMAL CONTROL PROBLEM
-
- # Create a MocoStudy
- study = osim.MocoStudy()
- study.setName("step_time_asymmetry")
-
- # Get the model
- modelProcessor = osim.ModelProcessor("2D_gait.osim")
- modelProcessor.append(
- osim.ModOpTendonComplianceDynamicsModeDGF("implicit"))
-
- # Get the MocoProblem from the MocoStudy and set the model on it
- problem = study.updProblem()
- problem.setModelProcessor(modelProcessor)
-
-
-
- # **********************************
- # SET GOALS
-
- # Periodicity:
- # All states are periodic except pelvis_tx value, lumbar actuator control
- # is periodic.
- periodicityGoal = osim.MocoPeriodicityGoal("periodicity")
- model = modelProcessor.process()
- model.initSystem()
- state_names = [model.getStateVariableNames().getitem(sn)
- for sn in range(model.getNumStateVariables())]
- for sn in state_names:
- if "pelvis_tx/value" not in sn:
- periodicityGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn))
- periodicityGoal.addControlPair(osim.MocoPeriodicityGoalPair("/lumbarAct"))
- problem.addGoal(periodicityGoal)
-
- # Average gait speed
- speedGoal = osim.MocoAverageSpeedGoal("avg_speed")
- speedGoal.set_desired_average_speed(1.0)
- problem.addGoal(speedGoal)
-
- # Effort
- effortGoal = osim.MocoControlGoal("effort", 10.0)
- effortGoal.setExponent(3)
- effortGoal.setDivideByDisplacement(True)
- problem.addGoal(effortGoal)
-
- # Step time asymmetry:
- # Create the goal, and configure it
- stepTimeAsymmetryGoal = \
- osim.MocoStepTimeAsymmetryGoal("step_time_asymmetry")
- # Value for smoothing term used to compute when foot contact is made
- # (default = 0.25). Users may need to adjust this based on convergence and
- # matching the target asymmetry.
- stepTimeAsymmetryGoal.setContactDetectionSmoothing(0.4)
- # Contact threshold based on vertical GRF (default = 25 N)
- stepTimeAsymmetryGoal.setContactForceThreshold(25.0)
- # Value for smoothing term used to compute asymmetry (default = 10). Users
- # may need to adjust this based on convergence and matching the target
- # asymmetry.
- stepTimeAsymmetryGoal.setAsymmetrySmoothing(3.0)
- # Target step length asymmetry. Positive values mean greater right step
- # length than left.
- stepTimeAsymmetryGoal.setTargetAsymmetry(0.10)
- # Set goal weight
- stepTimeAsymmetryGoal.setWeight(5.0)
- # Need to define the names of the left and right heel spheres: this is
- # used to detect which foot is in front during double support phase.
- contact_r = ["contactHeel_r", "contactFront_r"]
- contact_l = ["contactHeel_l", "contactFront_l"]
- stepTimeAsymmetryGoal.setRightContactGroup(contact_r, "contactHeel_r")
- stepTimeAsymmetryGoal.setLeftContactGroup(contact_l, "contactHeel_l")
- # Add the goal to the problem
- problem.addGoal(stepTimeAsymmetryGoal)
-
-
-
- # **********************************
- # SET BOUNDS
-
- # Set time bounds
- problem.setTimeBounds(0.0, 0.94)
-
- # Coordinate bounds as dict
- coord_bounds = {}
- coord_bounds["/jointset/groundPelvis/pelvis_tilt/value"] = [-20*pi/180,
- 20*pi/180]
- coord_bounds["/jointset/groundPelvis/pelvis_tx/value"] = [0, 2]
- coord_bounds["/jointset/groundPelvis/pelvis_ty/value"] = [0.75, 1.25]
- coord_bounds["/jointset/hip_r/hip_flexion_r/value"] = [-10*pi/180,
- 60*pi/180]
- coord_bounds["/jointset/hip_l/hip_flexion_l/value"] = [-10*pi/180,
- 60*pi/180]
- coord_bounds["/jointset/knee_r/knee_angle_r/value"] = [-50*pi/180, 0]
- coord_bounds["/jointset/knee_l/knee_angle_l/value"] = [-50*pi/180, 0]
- coord_bounds["/jointset/ankle_r/ankle_angle_r/value"] = [-15*pi/180,
- 25*pi/180]
- coord_bounds["/jointset/ankle_l/ankle_angle_l/value"] = [-15*pi/180,
- 25*pi/180]
- coord_bounds["/jointset/lumbar/lumbar/value"] = [0, 20*pi/180]
-
- # Set coordinate bounds
- for bnd in coord_bounds:
- problem.setStateInfo(bnd, coord_bounds[bnd])
-
-
-
- # **********************************
- # SOLVE
-
- # Configure the solver
- solver = study.initCasADiSolver()
- solver.set_num_mesh_intervals(100)
- solver.set_verbosity(2)
- solver.set_optim_convergence_tolerance(1e-4)
- solver.set_optim_constraint_tolerance(1e-4)
- solver.set_optim_max_iterations(2000)
-
- # Set the initial guess to be the symmetric two-steps tracking solution
- # from example2DWalking.py. Run this first, or proceed without a guess.
- guess_file = "walk_2D_two_steps_tracking_solution.sto"
- if os.path.isfile(guess_file):
- solver.setGuessFile(guess_file)
-
- # Print the Study to file
- study.printToXML("example2DWalkingStepTimeAsymmetry.omoco")
-
-
- # Solve
- solution = study.solve()
- solution.write("walk_2D_step_time_asym_solution.sto")
-
-
- # Write predicted GRF to file
- contact_forces_table = osim.createExternalLoadsTableForGait(model,
- solution, contact_r, contact_l)
- osim.STOFileAdapter().write(contact_forces_table,
- "walk_2D_step_time_asym_ground_forces.sto")
-
- # Calculate step time asymmetry
- step_time_asym, _ = computeStepAsymmetry(model, 25,
- "walk_2D_step_time_asym_solution.sto",
- "walk_2D_step_time_asym_ground_forces.sto")
- print("\nStep time asymmetry: %f\n" % step_time_asym)
-
-
- return study, solution
-
-
-
-"""
-stepLengthAsymmetry():
-
-This goal works by limiting the distance between feet, or "foot frames",
-throughout the gait cycle. The goal calculates the distance between the left
-foot and right foot, then limits the distance between feet to not pass beyond
-minimum (negative) or maximum (positive) bounds. There are two limits used:
-one that limits the distance between feet when the right foot is in front, and
-one that limits the distance between feet when the left foot is in front.
-
-Step Length Asymmetry (SLA) is a ratio and is calculated as follows:
-The Right Step Length (RSL) is the distance between feet at right foot strike
-The Left Step Length (LSL) is the distance between feet at left foot strike
-Step Length Asymmetry = (RSL - LSL)/ (RSL + LSL)
-
-Users must provide the target asymmetry value via 'setTargetAsymmetry()'.
-Asymmetry values ranges from -1.0 to 1.0. For example, 0.20 is 20positive
-step length asymmetry with greater right step length than left step length. A
-symmetric step length solution can be achieved by setting this property to zero.
-This goal can be used only in 'cost' mode, where the error between the target
-asymmetry and model asymmetry is squared. To make this goal suitable for
-gradient-based optimization, step length values are assigned via a smoothing
-function which can be controlled via 'setAsymmetrySmoothing()'.
-
-Users must also prescribed the stride length via 'setStrideLength()'. The goal
-then calculates the minimum and maximum bounds on the distance between right
-and left foot. Users must ensure that this stride length is met via problem
-bounds or other goals; the value provided to MocoStepLengthAsymmetryGoal is
-only used to compute the model's asymmetry in the cost function.
-
-Because this goal doesn't directly compute the step length asymmetry from
-heel strike data, users should confirm that the step length asymmetry
-from the solution matches closely to their target. To do this, we
-provide the helper function computeStepAsymmetryValues() below. Users may
-also want to confirm that the stride length from the optimization
-matches with setStrideLength(), or set additional constraints for stride length
-within the optimization. Additionally, in some cases users may want to set
-target asymmetries above or below the desired value, in the event there is
-some offset.
-"""
-def stepLengthAsymmetry():
-
-
- # **********************************
- # DEFINE THE OPTIMAL CONTROL PROBLEM
-
- # Create a MocoStudy
- study = osim.MocoStudy()
- study.setName("step_length_asymmetry")
-
- # Get the model
- modelProcessor = osim.ModelProcessor("2D_gait.osim")
- modelProcessor.append(
- osim.ModOpTendonComplianceDynamicsModeDGF("implicit"))
-
- # Get the MocoProblem from the MocoStudy and set the model on it
- problem = study.updProblem()
- problem.setModelProcessor(modelProcessor)
-
-
-
- # **********************************
- # SET GOALS
-
- # Periodicity:
- # All states are periodic except pelvis_tx value, lumbar actuator control
- # is periodic.
- periodicityGoal = osim.MocoPeriodicityGoal("periodicity")
- model = modelProcessor.process()
- model.initSystem()
- state_names = [model.getStateVariableNames().getitem(sn)
- for sn in range(model.getNumStateVariables())]
- for sn in state_names:
- if "pelvis_tx/value" not in sn:
- periodicityGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn))
- periodicityGoal.addControlPair(osim.MocoPeriodicityGoalPair("/lumbarAct"))
- problem.addGoal(periodicityGoal)
-
- # Average gait speed
- speedGoal = osim.MocoAverageSpeedGoal("avg_speed")
- speedGoal.set_desired_average_speed(1.0)
- problem.addGoal(speedGoal)
-
- # Effort
- effortGoal = osim.MocoControlGoal("effort", 10.0)
- effortGoal.setExponent(3)
- effortGoal.setDivideByDisplacement(True)
- problem.addGoal(effortGoal)
-
- # Step length asymmetry:
- # Create the goal, and configure it
- stepLengthAsymmetryGoal = osim.MocoStepLengthAsymmetryGoal()
- # Set body names for left and right foot
- stepLengthAsymmetryGoal.setRightFootFrame('/bodyset/calcn_r')
- stepLengthAsymmetryGoal.setLeftFootFrame('/bodyset/calcn_l')
- # Provide the stride length for the simulation (m)
- stepLengthAsymmetryGoal.setStrideLength(0.904)
- # Value for smoothing term used to compute asymmetry (default = 5). Users
- # may need to adjust this based on convergence and matching the target
- # asymmetry.
- stepLengthAsymmetryGoal.setAsymmetrySmoothing(5)
- # Target step length asymmetry. Positive values mean greater right step
- # length than left.
- stepLengthAsymmetryGoal.setTargetAsymmetry(-0.10)
- # Set goal weight
- stepLengthAsymmetryGoal.setWeight(5)
- # Add the goal to the problem
- problem.addGoal(stepLengthAsymmetryGoal)
-
-
-
- # **********************************
- # SET BOUNDS
-
- # Set time bounds
- problem.setTimeBounds(0.0, 0.94)
-
- # Coordinate bounds as dict
- coord_bounds = {}
- coord_bounds["/jointset/groundPelvis/pelvis_tilt/value"] = [-20*pi/180,
- 20*pi/180]
- coord_bounds["/jointset/groundPelvis/pelvis_tx/value"] = [0, 2]
- coord_bounds["/jointset/groundPelvis/pelvis_ty/value"] = [0.75, 1.25]
- coord_bounds["/jointset/hip_r/hip_flexion_r/value"] = [-10*pi/180,
- 60*pi/180]
- coord_bounds["/jointset/hip_l/hip_flexion_l/value"] = [-10*pi/180,
- 60*pi/180]
- coord_bounds["/jointset/knee_r/knee_angle_r/value"] = [-50*pi/180, 0]
- coord_bounds["/jointset/knee_l/knee_angle_l/value"] = [-50*pi/180, 0]
- coord_bounds["/jointset/ankle_r/ankle_angle_r/value"] = [-15*pi/180,
- 25*pi/180]
- coord_bounds["/jointset/ankle_l/ankle_angle_l/value"] = [-15*pi/180,
- 25*pi/180]
- coord_bounds["/jointset/lumbar/lumbar/value"] = [0, 20*pi/180]
-
- # Set coordinate bounds
- for bnd in coord_bounds:
- problem.setStateInfo(bnd, coord_bounds[bnd])
-
-
-
- # **********************************
- # SOLVE
-
- # Configure the solver
- solver = study.initCasADiSolver()
- solver.set_num_mesh_intervals(100)
- solver.set_verbosity(2)
- solver.set_optim_convergence_tolerance(1e-4)
- solver.set_optim_constraint_tolerance(1e-4)
- solver.set_optim_max_iterations(2000)
-
- # Set the initial guess to be the symmetric two-steps tracking solution
- # from example2DWalking.py. Run this first, or proceed without a guess.
- guess_file = "walk_2D_two_steps_tracking_solution.sto"
- if os.path.isfile(guess_file):
- solver.setGuessFile(guess_file)
-
- # Print the Study to file
- study.printToXML("example2DWalkingStepLengthAsymmetry.omoco")
-
-
- # Solve
- solution = study.solve()
- solution.write("walk_2D_step_length_asym_solution.sto")
-
- # Write predicted GRF to file
- contact_r = ["contactHeel_r", "contactFront_r"]
- contact_l = ["contactHeel_l", "contactFront_l"]
- contact_forces_table = osim.createExternalLoadsTableForGait(model,
- solution, contact_r, contact_l)
- osim.STOFileAdapter().write(contact_forces_table,
- "walk_2D_step_length_asym_ground_forces.sto")
-
- # Calculate step time asymmetry
- _, step_length_asym = computeStepAsymmetry(model, 25,
- "walk_2D_step_length_asym_solution.sto",
- "walk_2D_step_length_asym_ground_forces.sto")
- print("\nStep length asymmetry: %f\n" % step_length_asym)
-
-
- return study, solution
-
-
-
-"""
-computeStepAsymmetry():
-
-Calculate the values of the step length and step time asymmetry from the
-results of the simulation.
-"""
-def computeStepAsymmetry(model_file, threshold, solution_file, grf_file):
-
- # Load model
- model = osim.Model(model_file)
-
- # Load predicted GRF
- grf = np.genfromtxt(grf_file, skip_header=5, delimiter="\t")
-
- # GRF time vector and vertical components
- tvec = grf[:, 0]
-
-
- # **********************************
- # STEP TIME ASYMMETRY
-
- # Find index of heel strike on each leg
- hs_idxR = findHeelStrikeIndex(grf[:, 2], threshold)
- hs_idxL = findHeelStrikeIndex(grf[:, 8], threshold)
-
- # Compute step time on each leg
- hs_timeR = tvec[hs_idxR]
- hs_timeL = tvec[hs_idxL]
- if hs_timeR < hs_timeL:
- step_timeL = hs_timeL - hs_timeR
- step_timeR = tvec[-1] - step_timeL
- else:
- step_timeR = hs_timeR - hs_timeL
- step_timeL = tvec[-1] - step_timeR
-
- # Calculate step time asymmetry (%)
- step_time_asym = 100 * (step_timeR - step_timeL) \
- / (step_timeR + step_timeL)
-
-
- # **********************************
- # STEP LENGTH ASYMMETRY
-
- # Get the states for each limb at the instant of heel strike on that limb
- states_traj = osim.StatesTrajectory().createFromStatesTable(model,
- osim.TimeSeriesTable(solution_file), False, True, True)
- statesR = states_traj.get(hs_idxR)
- statesL = states_traj.get(hs_idxL)
-
- # Calculate the step length
- step_lengthR = calculateStepLength(model, statesR)
- step_lengthL = calculateStepLength(model, statesL)
-
- # Calculate step length asymmetry (%)
- step_length_asym = 100 * (step_lengthR - step_lengthL) \
- / (step_lengthR + step_lengthL)
-
-
- return step_time_asym, step_length_asym
-
-
-
-"""
-findHeelStrikeIndex():
-
-Find heel strike index by determining foot contact on-off instances. If no
-heel strike is found, then assume first index is heel strike. This
-implementation differs from that of Russell T. Johnson's Matlab version, but
-follows the same prinicples.
-"""
-def findHeelStrikeIndex(grfy, threshold):
-
- # Find windows representing ground contact
- is_contact = (grfy > threshold).astype(int)
-
- # Calculate transition points, i.e. heel strike (1) and foot off (-1)
- contact_diff = np.diff(np.insert(is_contact, 0, 1))
-
- # Extract heel strike and foot off indices. If no heel strike found,
- # assume first index is heel strike.
- idxs = np.where(contact_diff == 1)[0]
- if idxs.size == 0:
- idx = 0
- else:
- idx = idxs[0]
-
- return int(idx)
-
-
-
-"""
-calculateStepLength():
-
-Find step length by configuring the model at heel strike, then compute distance
-between contact spheres along the fore-aft coordinate.
-"""
-def calculateStepLength(model, state):
-
- # Configure the model at heel strike
- model.initSystem()
- model.realizePosition(state)
-
- # Get the heel contact spheres
- contact_r = model.getContactGeometrySet().get("heel_r")
- contact_l = model.getContactGeometrySet().get("heel_l")
-
- # Find the positions of the contact spheres in the global frame
- pos_r = contact_r.getFrame().getPositionInGround(state)
- pos_l = contact_l.getFrame().getPositionInGround(state)
-
- # Step length is the difference between global position of the left and
- # right along the fore-aft coordinate (x)
- step_length = abs(pos_r.get(0) - pos_l.get(0))
-
- return step_length
-
-
-
-
-# %% STEP TIME ASYMMETRY
-
-# Solve and visualise
-step_time_study, step_time_solution = stepTimeAsymmetry()
-step_time_study.visualize(step_time_solution)
-
-
-
-# %% STEP LENGTH ASYMMETRY
-
-# Solve and visualise
-step_length_study, step_length_solution = stepLengthAsymmetry()
-step_length_study.visualize(step_length_solution)
-
From dedf39b3a8064cf68efcf6ad2805aa2eadcadd1d Mon Sep 17 00:00:00 2001
From: psbiomech <psbiomech@gmail.com>
Date: Mon, 27 Jun 2022 15:53:42 +1000
Subject: [PATCH 8/8] Updated to 80 chars per line
---
.../Moco/example2DWalking/example2DWalking.py | 164 +++++++++++-------
.../example2DWalkingMetabolics.py | 39 +++--
.../example2DWalkingStepAsymmetry.py | 74 +++++---
3 files changed, 174 insertions(+), 103 deletions(-)
diff --git a/Bindings/Python/examples/Moco/example2DWalking/example2DWalking.py b/Bindings/Python/examples/Moco/example2DWalking/example2DWalking.py
index 182ac5d089..4a788cd379 100644
--- a/Bindings/Python/examples/Moco/example2DWalking/example2DWalking.py
+++ b/Bindings/Python/examples/Moco/example2DWalking/example2DWalking.py
@@ -63,9 +63,9 @@ def gait_tracking():
track.set_initial_time(0.0)
track.set_final_time(0.47008941)
- # Call initialize() to receive a pre-configured MocoStudy object based on the
- # settings above. Use this to customize the problem beyond the MocoTrack
- # interface.
+ # Call initialize() to receive a pre-configured MocoStudy object based on
+ # the settings above. Use this to customize the problem beyond the
+ # Mocotrack interface.
study = track.initialize()
# Get a writable reference to the MocoProblem from the MocoStudy to perform
@@ -78,52 +78,61 @@ def gait_tracking():
# SET GOALS
# Symmetry:
- # This goal allows us to simulate only one step with left-right symmetry that
- # we can then double to create two steps, one on each leg (IFO>IFS>CFO>CFS).
- # Note that this is not actually a full gait cycle (IFO>IFS>CFO>CFS>IFO).
+ # This goal allows us to simulate only one step with left-right symmetry
+ # that we can then double to create two steps, one on each leg
+ # (IFO>IFS>CFO>CFS). Note that this is not actually a full gait cycle
+ # (IFO>IFS>CFO>CFS>IFO).
symmetryGoal = osim.MocoPeriodicityGoal("symmetry_goal")
problem.addGoal(symmetryGoal)
# Enforce periodic symmetry
model = modelProcessor.process()
model.initSystem()
- state_names = [model.getStateVariableNames().getitem(sn) for sn in range(model.getNumStateVariables())]
+ state_names = [model.getStateVariableNames().getitem(sn)
+ for sn in range(model.getNumStateVariables())]
for sn in state_names:
# Symmetric coordinate values and speeds (except for pelvis_tx value):
- # Here we constrain final coordinate values of one leg to match the initial
- # value of the other leg. Manually add pelvis_tx speed later.
+ # Here we constrain final coordinate values of one leg to match the
+ # initial value of the other leg. Manually add pelvis_tx speed later.
if "jointset" in sn:
if "_r" in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn, sn.replace("_r", "_l")))
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
+ sn.replace("_r", "_l")))
elif "_l" in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn, sn.replace("_l", "_r")))
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
+ sn.replace("_l", "_r")))
elif "pelvis_tx" not in sn:
symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn))
# Symmetric muscle activations:
- # Here, we constrain final muscle activation values of one leg to match the
- # initial activation values of the other leg.
+ # Here, we constrain final muscle activation values of one leg to match
+ # the initial activation values of the other leg.
elif "activation" in sn:
if "_r" in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn, sn.replace("_r", "_l")))
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
+ sn.replace("_r", "_l")))
elif "_l" in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn, sn.replace("_l", "_r")))
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
+ sn.replace("_l", "_r")))
# The pelvis_tx speed has periodic symmetry
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair("/jointset/groundPelvis/pelvis_tx/speed"))
+ symmetryGoal.addStatePair(
+ osim.MocoPeriodicityGoalPair("/jointset/groundPelvis/pelvis_tx/speed"))
# Lumbar control has periodic symmetry. The other controls don't need
- # symmetry enforced as they are all muscle excitations. Their behaviour will be
- # contstrained by the periodicity imposed on their respective activations.
+ # symmetry enforced as they are all muscle excitations. Their behaviour
+ # will be contstrained by the periodicity imposed on their respective
+ # activations.
symmetryGoal.addControlPair(osim.MocoPeriodicityGoalPair('/lumbarAct'))
# Effort:
# Get a reference to the MocoControlGoal that is added to a MocoTrack
# problem by default and adjust the weight
- effort = osim.MocoControlGoal.safeDownCast(problem.updGoal("control_effort"))
+ effort = osim.MocoControlGoal.safeDownCast(
+ problem.updGoal("control_effort"))
effort.setWeight(10.0)
@@ -135,7 +144,8 @@ def gait_tracking():
if grf_tracking_weight != 0:
# Create a contact tracking goal
- contactTracking = osim.MocoContactTrackingGoal("contact", grf_tracking_weight)
+ contactTracking = osim.MocoContactTrackingGoal("contact",
+ grf_tracking_weight)
contactTracking.setExternalLoadsFile("referenceGRF.xml")
# Add contact groups. The sum of all the contact forces in each group
@@ -143,7 +153,7 @@ def gait_tracking():
contactTracking.addContactGroup(contact_r, "Right_GRF")
contactTracking.addContactGroup(contact_l, "Left_GRF")
- # 2D walking problem so consider force errors in the sagittal plane only
+ # 2D walking problem so consider force errors in the sagittal plane
contactTracking.setProjection("plane")
contactTracking.setProjectionVector(osim.Vec3(0, 0, 1))
@@ -157,15 +167,20 @@ def gait_tracking():
# Coordinate bounds as dict
coord_bounds = {}
- coord_bounds["/jointset/groundPelvis/pelvis_tilt/value"] = [-20*pi/180, -10*pi/180]
+ coord_bounds["/jointset/groundPelvis/pelvis_tilt/value"] = [-20*pi/180,
+ -10*pi/180]
coord_bounds["/jointset/groundPelvis/pelvis_tx/value"] = [0.0, 1.0]
coord_bounds["/jointset/groundPelvis/pelvis_ty/value"] = [0.75, 1.25]
- coord_bounds["/jointset/hip_r/hip_flexion_r/value"] = [-10*pi/180, 60*pi/180]
- coord_bounds["/jointset/hip_l/hip_flexion_l/value"] = [-10*pi/180, 60*pi/180]
+ coord_bounds["/jointset/hip_r/hip_flexion_r/value"] = [-10*pi/180,
+ 60*pi/180]
+ coord_bounds["/jointset/hip_l/hip_flexion_l/value"] = [-10*pi/180,
+ 60*pi/180]
coord_bounds["/jointset/knee_r/knee_angle_r/value"] = [-50*pi/180, 0]
coord_bounds["/jointset/knee_l/knee_angle_l/value"] = [-50*pi/180, 0]
- coord_bounds["/jointset/ankle_r/ankle_angle_r/value"] = [-15*pi/180, 25*pi/180]
- coord_bounds["/jointset/ankle_l/ankle_angle_l/value"] = [-15*pi/180, 25*pi/180]
+ coord_bounds["/jointset/ankle_r/ankle_angle_r/value"] = [-15*pi/180,
+ 25*pi/180]
+ coord_bounds["/jointset/ankle_l/ankle_angle_l/value"] = [-15*pi/180,
+ 25*pi/180]
coord_bounds["/jointset/lumbar/lumbar/value"] = [0, 20*pi/180]
# Set coordinate bounds
@@ -177,9 +192,9 @@ def gait_tracking():
# **********************************
# SOLVE
- # The Solver is pre-configured, however, uncomment below to configure further
- # if desired. This gets a writable reference to the Solver, for custom
- # configuration.
+ # The Solver is pre-configured, however, uncomment below to configure
+ # further if desired. This gets a writable reference to the Solver, for
+ # custom configuration.
# solver = study.updSolver()
# solver.set_num_mesh_intervals(50);
# solver.set_verbosity(2);
@@ -198,10 +213,12 @@ def gait_tracking():
two_steps_solution = osim.createPeriodicTrajectory(solution)
two_steps_solution.write("walk_2D_two_steps_tracking_solution.sto")
- # Also extract the predicted ground forces, see API documentation for use of
- # this utility function
- contact_forces_table = osim.createExternalLoadsTableForGait(model, two_steps_solution, contact_r, contact_l)
- osim.STOFileAdapter().write(contact_forces_table, "walk_2D_two_steps_tracking_ground_forces.sto")
+ # Also extract the predicted ground forces, see API documentation for use
+ # of this utility function
+ contact_forces_table = osim.createExternalLoadsTableForGait(model,
+ two_steps_solution, contact_r, contact_l)
+ osim.STOFileAdapter().write(contact_forces_table,
+ "walk_2D_two_steps_tracking_ground_forces.sto")
return study, solution, two_steps_solution
@@ -252,35 +269,41 @@ def gait_prediction(tracking_solution):
# Enforce periodic symmetry
model = modelProcessor.process()
model.initSystem()
- state_names = [model.getStateVariableNames().getitem(sn) for sn in range(model.getNumStateVariables())]
+ state_names = [model.getStateVariableNames().getitem(sn)
+ for sn in range(model.getNumStateVariables())]
for sn in state_names:
# Symmetric coordinate values and speeds (except for pelvis_tx value):
- # Here we constrain final coordinate values of one leg to match the initial
- # value of the other leg. Manually add pelvis_tx speed later.
+ # Here we constrain final coordinate values of one leg to match the
+ # initial value of the other leg. Manually add pelvis_tx speed later.
if "jointset" in sn:
if "_r" in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn, sn.replace("_r", "_l")))
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
+ sn.replace("_r", "_l")))
elif "_l" in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn, sn.replace("_l", "_r")))
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
+ sn.replace("_l", "_r")))
elif "pelvis_tx" not in sn:
symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn))
# Symmetric muscle activations:
- # Here, we constrain final muscle activation values of one leg to match the
- # initial activation values of the other leg.
+ # Here, we constrain final muscle activation values of one leg to match
+ # the initial activation values of the other leg.
elif "activation" in sn:
if "_r" in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn, sn.replace("_r", "_l")))
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
+ sn.replace("_r", "_l")))
elif "_l" in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn, sn.replace("_l", "_r")))
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
+ sn.replace("_l", "_r")))
# The pelvis_tx speed has periodic symmetry
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair("/jointset/groundPelvis/pelvis_tx/speed"))
+ symmetryGoal.addStatePair(
+ osim.MocoPeriodicityGoalPair("/jointset/groundPelvis/pelvis_tx/speed"))
# Lumbar control has periodic symmetry. The other controls don't need
- # symmetry enforces as they are all muscle excitations. Their behaviour will be
- # modulated by the periodicity imposed on their respective activations.
+ # symmetry enforces as they are all muscle excitations. Their behaviour
+ # will be modulated by the periodicity imposed on their activations.
symmetryGoal.addControlPair(osim.MocoPeriodicityGoalPair('/lumbarAct'))
# Specify the desired average walk speed, add as a goal
@@ -288,13 +311,13 @@ def gait_prediction(tracking_solution):
speedGoal.set_desired_average_speed(1.2)
problem.addGoal(speedGoal)
- # Minimise total "effort" over the distance, i.e. minimise sum of the absolute
- # values of all controls raised to a given exponent, integrated over the phase.
- # In a MocoTrack problem, this is automatically added, however, in this
- # predictive problem, we have created a MocoStudy from scratch, so we need to
- # add this goal manually to the Problem. The second input argument to the
- # constructor is the weight applied to this goal. We also normalise the effort
- # by the distance travelled.
+ # Minimise total "effort" over the distance, i.e. minimise sum of the
+ # absolute values of all controls raised to a given exponent, integrated
+ # over the phase. In a MocoTrack problem, this is automatically added,
+ # however, in this predictive problem, we have created a MocoStudy from
+ # scratch, so we need to add this goal manually to the Problem. The second
+ # input argument to the constructor is the weight applied to this goal.
+ # We also normalise the effort by the distance travelled.
effortGoal = osim.MocoControlGoal('effort', 10)
effortGoal.setExponent(3)
effortGoal.setDivideByDisplacement(True)
@@ -311,15 +334,20 @@ def gait_prediction(tracking_solution):
# Coordinate bounds as dict
coord_bounds = {}
- coord_bounds["/jointset/groundPelvis/pelvis_tilt/value"] = [-20*pi/180, -10*pi/180]
+ coord_bounds["/jointset/groundPelvis/pelvis_tilt/value"] = [-20*pi/180,
+ -10*pi/180]
coord_bounds["/jointset/groundPelvis/pelvis_tx/value"] = [0.0, 1.0]
coord_bounds["/jointset/groundPelvis/pelvis_ty/value"] = [0.75, 1.25]
- coord_bounds["/jointset/hip_r/hip_flexion_r/value"] = [-10*pi/180, 60*pi/180]
- coord_bounds["/jointset/hip_l/hip_flexion_l/value"] = [-10*pi/180, 60*pi/180]
+ coord_bounds["/jointset/hip_r/hip_flexion_r/value"] = [-10*pi/180,
+ 60*pi/180]
+ coord_bounds["/jointset/hip_l/hip_flexion_l/value"] = [-10*pi/180,
+ 60*pi/180]
coord_bounds["/jointset/knee_r/knee_angle_r/value"] = [-50*pi/180, 0]
coord_bounds["/jointset/knee_l/knee_angle_l/value"] = [-50*pi/180, 0]
- coord_bounds["/jointset/ankle_r/ankle_angle_r/value"] = [-15*pi/180, 25*pi/180]
- coord_bounds["/jointset/ankle_l/ankle_angle_l/value"] = [-15*pi/180, 25*pi/180]
+ coord_bounds["/jointset/ankle_r/ankle_angle_r/value"] = [-15*pi/180,
+ 25*pi/180]
+ coord_bounds["/jointset/ankle_l/ankle_angle_l/value"] = [-15*pi/180,
+ 25*pi/180]
coord_bounds["/jointset/lumbar/lumbar/value"] = [0, 20*pi/180]
# Set coordinate bounds
@@ -331,9 +359,9 @@ def gait_prediction(tracking_solution):
# **********************************
# SOLVE
- # Configure the solver. In the tracking problem, the solver was pre-configured,
- # using MocoTrack, however, as we have created a MocoStudy from scratch, we
- # need to initialise the MocoSolver and configure it.
+ # Configure the solver. In the tracking problem, the solver was
+ # pre-configured, using MocoTrack, however, as we have created a MocoStudy
+ # from scratch, we need to initialise the MocoSolver and configure it.
solver = study.initCasADiSolver()
solver.set_num_mesh_intervals(50)
solver.set_verbosity(2)
@@ -355,12 +383,14 @@ def gait_prediction(tracking_solution):
two_steps_solution = osim.createPeriodicTrajectory(solution)
two_steps_solution.write("walk_2D_two_steps_prediction_solution.sto")
- # Also extract the predicted ground forces, see API documentation for use of
- # this utility function
+ # Also extract the predicted ground forces, see API documentation for use
+ # of this utility function
contact_r = ["contactHeel_r", "contactFront_r"]
contact_l = ["contactHeel_l", "contactFront_l"]
- contact_forces_table = osim.createExternalLoadsTableForGait(model, two_steps_solution, contact_r, contact_l)
- osim.STOFileAdapter().write(contact_forces_table, "walk_2D_two_steps_prediction_ground_forces.sto")
+ contact_forces_table = osim.createExternalLoadsTableForGait(model,
+ two_steps_solution, contact_r, contact_l)
+ osim.STOFileAdapter().write(contact_forces_table,
+ "walk_2D_two_steps_prediction_ground_forces.sto")
return study, solution, two_steps_solution
@@ -370,7 +400,8 @@ def gait_prediction(tracking_solution):
# %% TRACKING PROBLEM
# Solve the problem and visualise
-tracking_study, tracking_solution, tracking_two_steps_solution = gait_tracking()
+tracking_study, tracking_solution, tracking_two_steps_solution = \
+ gait_tracking()
tracking_study.visualize(tracking_two_steps_solution)
@@ -378,7 +409,8 @@ def gait_prediction(tracking_solution):
# %% PREDICTION PROBLEM
# Solve the problem and visualise (uses tracking_solution as initial guess)
-prediction_study, prediction_solution, prediction_two_steps_solution = gait_prediction(tracking_solution)
+prediction_study, prediction_solution, prediction_two_steps_solution = \
+ gait_prediction(tracking_solution)
prediction_study.visualize(prediction_two_steps_solution)
diff --git a/Bindings/Python/examples/Moco/example2DWalking/example2DWalkingMetabolics.py b/Bindings/Python/examples/Moco/example2DWalking/example2DWalkingMetabolics.py
index 13c6fad8d6..88b36600cf 100644
--- a/Bindings/Python/examples/Moco/example2DWalking/example2DWalkingMetabolics.py
+++ b/Bindings/Python/examples/Moco/example2DWalking/example2DWalkingMetabolics.py
@@ -95,7 +95,8 @@
# Enforce periodic symmetry
model = modelProcessor.process()
model.initSystem()
-state_names = [model.getStateVariableNames().getitem(sn) for sn in range(model.getNumStateVariables())]
+state_names = [model.getStateVariableNames().getitem(sn)
+ for sn in range(model.getNumStateVariables())]
for sn in state_names:
# Symmetric coordinate values and speeds (except for pelvis_tx value):
@@ -103,9 +104,11 @@
# value of the other leg. Manually add pelvis_tx speed later.
if "jointset" in sn:
if "_r" in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn, sn.replace("_r", "_l")))
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
+ sn.replace("_r", "_l")))
elif "_l" in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn, sn.replace("_l", "_r")))
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
+ sn.replace("_l", "_r")))
elif "pelvis_tx" not in sn:
symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn))
@@ -114,13 +117,16 @@
# initial activation values of the other leg.
elif "activation" in sn:
if "_r" in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn, sn.replace("_r", "_l")))
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
+ sn.replace("_r", "_l")))
elif "_l" in sn:
- symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn, sn.replace("_l", "_r")))
+ symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn,
+ sn.replace("_l", "_r")))
# The pelvis_tx speed has periodic symmetry
-symmetryGoal.addStatePair(osim.MocoPeriodicityGoalPair("/jointset/groundPelvis/pelvis_tx/speed"))
+symmetryGoal.addStatePair(
+ osim.MocoPeriodicityGoalPair("/jointset/groundPelvis/pelvis_tx/speed"))
# Lumbar control has periodic symmetry. The other controls don't need symmetry
# enforced as they are all muscle excitations. Their behaviour will be
@@ -151,15 +157,20 @@
# Coordinate bounds as dict
coord_bounds = {}
-coord_bounds["/jointset/groundPelvis/pelvis_tilt/value"] = [-20*pi/180, -10*pi/180]
+coord_bounds["/jointset/groundPelvis/pelvis_tilt/value"] = [-20*pi/180,
+ -10*pi/180]
coord_bounds["/jointset/groundPelvis/pelvis_tx/value"] = [0.0, 1.0]
coord_bounds["/jointset/groundPelvis/pelvis_ty/value"] = [0.75, 1.25]
-coord_bounds["/jointset/hip_r/hip_flexion_r/value"] = [-10*pi/180, 60*pi/180]
-coord_bounds["/jointset/hip_l/hip_flexion_l/value"] = [-10*pi/180, 60*pi/180]
+coord_bounds["/jointset/hip_r/hip_flexion_r/value"] = [-10*pi/180,
+ 60*pi/180]
+coord_bounds["/jointset/hip_l/hip_flexion_l/value"] = [-10*pi/180,
+ 60*pi/180]
coord_bounds["/jointset/knee_r/knee_angle_r/value"] = [-50*pi/180, 0]
coord_bounds["/jointset/knee_l/knee_angle_l/value"] = [-50*pi/180, 0]
-coord_bounds["/jointset/ankle_r/ankle_angle_r/value"] = [-15*pi/180, 25*pi/180]
-coord_bounds["/jointset/ankle_l/ankle_angle_l/value"] = [-15*pi/180, 25*pi/180]
+coord_bounds["/jointset/ankle_r/ankle_angle_r/value"] = [-15*pi/180,
+ 25*pi/180]
+coord_bounds["/jointset/ankle_l/ankle_angle_l/value"] = [-15*pi/180,
+ 25*pi/180]
coord_bounds["/jointset/lumbar/lumbar/value"] = [0, 20*pi/180]
# Set coordinate bounds
@@ -192,8 +203,10 @@
# this utility function
contact_r = ["contactHeel_r", "contactFront_r"]
contact_l = ["contactHeel_l", "contactFront_l"]
-contact_forces_table = osim.createExternalLoadsTableForGait(model, two_steps_solution, contact_r, contact_l)
-osim.STOFileAdapter().write(contact_forces_table, "walk_2D_metabolics_two_steps_tracking_ground_forces.sto")
+contact_forces_table = osim.createExternalLoadsTableForGait(model,
+ two_steps_solution, contact_r, contact_l)
+osim.STOFileAdapter().write(contact_forces_table,
+ "walk_2D_metabolics_two_steps_tracking_ground_forces.sto")
# Determine the cost of transport from the metabolics cost term. Need to divide
diff --git a/Bindings/Python/examples/Moco/example2DWalking/example2DWalkingStepAsymmetry.py b/Bindings/Python/examples/Moco/example2DWalking/example2DWalkingStepAsymmetry.py
index 502f51c813..fd8fdfdefe 100644
--- a/Bindings/Python/examples/Moco/example2DWalking/example2DWalkingStepAsymmetry.py
+++ b/Bindings/Python/examples/Moco/example2DWalking/example2DWalkingStepAsymmetry.py
@@ -77,7 +77,8 @@ def stepTimeAsymmetry():
# Get the model
modelProcessor = osim.ModelProcessor("2D_gait.osim")
- modelProcessor.append(osim.ModOpTendonComplianceDynamicsModeDGF("implicit"))
+ modelProcessor.append(
+ osim.ModOpTendonComplianceDynamicsModeDGF("implicit"))
# Get the MocoProblem from the MocoStudy and set the model on it
problem = study.updProblem()
@@ -94,7 +95,8 @@ def stepTimeAsymmetry():
periodicityGoal = osim.MocoPeriodicityGoal("periodicity")
model = modelProcessor.process()
model.initSystem()
- state_names = [model.getStateVariableNames().getitem(sn) for sn in range(model.getNumStateVariables())]
+ state_names = [model.getStateVariableNames().getitem(sn)
+ for sn in range(model.getNumStateVariables())]
for sn in state_names:
if "pelvis_tx/value" not in sn:
periodicityGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn))
@@ -114,7 +116,8 @@ def stepTimeAsymmetry():
# Step time asymmetry:
# Create the goal, and configure it
- stepTimeAsymmetryGoal = osim.MocoStepTimeAsymmetryGoal("step_time_asymmetry")
+ stepTimeAsymmetryGoal = \
+ osim.MocoStepTimeAsymmetryGoal("step_time_asymmetry")
# Value for smoothing term used to compute when foot contact is made
# (default = 0.25). Users may need to adjust this based on convergence and
# matching the target asymmetry.
@@ -149,15 +152,20 @@ def stepTimeAsymmetry():
# Coordinate bounds as dict
coord_bounds = {}
- coord_bounds["/jointset/groundPelvis/pelvis_tilt/value"] = [-20*pi/180, 20*pi/180]
+ coord_bounds["/jointset/groundPelvis/pelvis_tilt/value"] = [-20*pi/180,
+ 20*pi/180]
coord_bounds["/jointset/groundPelvis/pelvis_tx/value"] = [0, 2]
coord_bounds["/jointset/groundPelvis/pelvis_ty/value"] = [0.75, 1.25]
- coord_bounds["/jointset/hip_r/hip_flexion_r/value"] = [-10*pi/180, 60*pi/180]
- coord_bounds["/jointset/hip_l/hip_flexion_l/value"] = [-10*pi/180, 60*pi/180]
+ coord_bounds["/jointset/hip_r/hip_flexion_r/value"] = [-10*pi/180,
+ 60*pi/180]
+ coord_bounds["/jointset/hip_l/hip_flexion_l/value"] = [-10*pi/180,
+ 60*pi/180]
coord_bounds["/jointset/knee_r/knee_angle_r/value"] = [-50*pi/180, 0]
coord_bounds["/jointset/knee_l/knee_angle_l/value"] = [-50*pi/180, 0]
- coord_bounds["/jointset/ankle_r/ankle_angle_r/value"] = [-15*pi/180, 25*pi/180]
- coord_bounds["/jointset/ankle_l/ankle_angle_l/value"] = [-15*pi/180, 25*pi/180]
+ coord_bounds["/jointset/ankle_r/ankle_angle_r/value"] = [-15*pi/180,
+ 25*pi/180]
+ coord_bounds["/jointset/ankle_l/ankle_angle_l/value"] = [-15*pi/180,
+ 25*pi/180]
coord_bounds["/jointset/lumbar/lumbar/value"] = [0, 20*pi/180]
# Set coordinate bounds
@@ -193,11 +201,15 @@ def stepTimeAsymmetry():
# Write predicted GRF to file
- contact_forces_table = osim.createExternalLoadsTableForGait(model, solution, contact_r, contact_l)
- osim.STOFileAdapter().write(contact_forces_table, "walk_2D_step_time_asym_ground_forces.sto")
+ contact_forces_table = osim.createExternalLoadsTableForGait(model,
+ solution, contact_r, contact_l)
+ osim.STOFileAdapter().write(contact_forces_table,
+ "walk_2D_step_time_asym_ground_forces.sto")
# Calculate step time asymmetry
- step_time_asym, _ = computeStepAsymmetry(model, 25, "walk_2D_step_time_asym_solution.sto", "walk_2D_step_time_asym_ground_forces.sto")
+ step_time_asym, _ = computeStepAsymmetry(model, 25,
+ "walk_2D_step_time_asym_solution.sto",
+ "walk_2D_step_time_asym_ground_forces.sto")
print("\nStep time asymmetry: %f\n" % step_time_asym)
@@ -257,7 +269,8 @@ def stepLengthAsymmetry():
# Get the model
modelProcessor = osim.ModelProcessor("2D_gait.osim")
- modelProcessor.append(osim.ModOpTendonComplianceDynamicsModeDGF("implicit"))
+ modelProcessor.append(
+ osim.ModOpTendonComplianceDynamicsModeDGF("implicit"))
# Get the MocoProblem from the MocoStudy and set the model on it
problem = study.updProblem()
@@ -274,7 +287,8 @@ def stepLengthAsymmetry():
periodicityGoal = osim.MocoPeriodicityGoal("periodicity")
model = modelProcessor.process()
model.initSystem()
- state_names = [model.getStateVariableNames().getitem(sn) for sn in range(model.getNumStateVariables())]
+ state_names = [model.getStateVariableNames().getitem(sn)
+ for sn in range(model.getNumStateVariables())]
for sn in state_names:
if "pelvis_tx/value" not in sn:
periodicityGoal.addStatePair(osim.MocoPeriodicityGoalPair(sn))
@@ -322,15 +336,20 @@ def stepLengthAsymmetry():
# Coordinate bounds as dict
coord_bounds = {}
- coord_bounds["/jointset/groundPelvis/pelvis_tilt/value"] = [-20*pi/180, 20*pi/180]
+ coord_bounds["/jointset/groundPelvis/pelvis_tilt/value"] = [-20*pi/180,
+ 20*pi/180]
coord_bounds["/jointset/groundPelvis/pelvis_tx/value"] = [0, 2]
coord_bounds["/jointset/groundPelvis/pelvis_ty/value"] = [0.75, 1.25]
- coord_bounds["/jointset/hip_r/hip_flexion_r/value"] = [-10*pi/180, 60*pi/180]
- coord_bounds["/jointset/hip_l/hip_flexion_l/value"] = [-10*pi/180, 60*pi/180]
+ coord_bounds["/jointset/hip_r/hip_flexion_r/value"] = [-10*pi/180,
+ 60*pi/180]
+ coord_bounds["/jointset/hip_l/hip_flexion_l/value"] = [-10*pi/180,
+ 60*pi/180]
coord_bounds["/jointset/knee_r/knee_angle_r/value"] = [-50*pi/180, 0]
coord_bounds["/jointset/knee_l/knee_angle_l/value"] = [-50*pi/180, 0]
- coord_bounds["/jointset/ankle_r/ankle_angle_r/value"] = [-15*pi/180, 25*pi/180]
- coord_bounds["/jointset/ankle_l/ankle_angle_l/value"] = [-15*pi/180, 25*pi/180]
+ coord_bounds["/jointset/ankle_r/ankle_angle_r/value"] = [-15*pi/180,
+ 25*pi/180]
+ coord_bounds["/jointset/ankle_l/ankle_angle_l/value"] = [-15*pi/180,
+ 25*pi/180]
coord_bounds["/jointset/lumbar/lumbar/value"] = [0, 20*pi/180]
# Set coordinate bounds
@@ -367,11 +386,15 @@ def stepLengthAsymmetry():
# Write predicted GRF to file
contact_r = ["contactHeel_r", "contactFront_r"]
contact_l = ["contactHeel_l", "contactFront_l"]
- contact_forces_table = osim.createExternalLoadsTableForGait(model, solution, contact_r, contact_l)
- osim.STOFileAdapter().write(contact_forces_table, "walk_2D_step_length_asym_ground_forces.sto")
+ contact_forces_table = osim.createExternalLoadsTableForGait(model,
+ solution, contact_r, contact_l)
+ osim.STOFileAdapter().write(contact_forces_table,
+ "walk_2D_step_length_asym_ground_forces.sto")
# Calculate step time asymmetry
- _, step_length_asym = computeStepAsymmetry(model, 25, "walk_2D_step_length_asym_solution.sto", "walk_2D_step_length_asym_ground_forces.sto")
+ _, step_length_asym = computeStepAsymmetry(model, 25,
+ "walk_2D_step_length_asym_solution.sto",
+ "walk_2D_step_length_asym_ground_forces.sto")
print("\nStep length asymmetry: %f\n" % step_length_asym)
@@ -415,14 +438,16 @@ def computeStepAsymmetry(model_file, threshold, solution_file, grf_file):
step_timeL = tvec[-1] - step_timeR
# Calculate step time asymmetry (%)
- step_time_asym = 100 * (step_timeR - step_timeL) / (step_timeR + step_timeL)
+ step_time_asym = 100 * (step_timeR - step_timeL) \
+ / (step_timeR + step_timeL)
# **********************************
# STEP LENGTH ASYMMETRY
# Get the states for each limb at the instant of heel strike on that limb
- states_traj = osim.StatesTrajectory().createFromStatesTable(model, osim.TimeSeriesTable(solution_file), False, True, True)
+ states_traj = osim.StatesTrajectory().createFromStatesTable(model,
+ osim.TimeSeriesTable(solution_file), False, True, True)
statesR = states_traj.get(hs_idxR)
statesL = states_traj.get(hs_idxL)
@@ -431,7 +456,8 @@ def computeStepAsymmetry(model_file, threshold, solution_file, grf_file):
step_lengthL = calculateStepLength(model, statesL)
# Calculate step length asymmetry (%)
- step_length_asym = 100 * (step_lengthR - step_lengthL) / (step_lengthR + step_lengthL)
+ step_length_asym = 100 * (step_lengthR - step_lengthL) \
+ / (step_lengthR + step_lengthL)
return step_time_asym, step_length_asym