/**
* main routine to run the model.
*/
int main()
{
try {
// Create an OpenSim model and set its name
Model luxo;
luxo.setName("LuxoMuscle");
// This method takes an empty model and fills it with a working
// Luxo Jr. lamp skeleton!
createLuxoJr(luxo);
std::cout << "Finished making Luxo Jr skeleton" << std::endl;
// Turn on 3D visualization for this Luxo lamp model
luxo.setUseVisualizer(true);
luxo.updDisplayHints().set_show_frames(true);
// Pose the model
State& state = luxo.initSystem();
std::cout << "State initialized." << std::endl;
// Configure the 3D visualizer environment
luxo.updMatterSubsystem().setShowDefaultGeometry(false);
Visualizer& viz = luxo.updVisualizer().updSimbodyVisualizer();
viz.setBackgroundType(viz.GroundAndSky);
viz.setShowSimTime(true);
SimTK::Transform camera_pose(
camera_offset_distance*camera_offset_direction);
camera_pose.updR().setRotationFromOneAxis(
camera_offset_direction.negate(), ZAxis);
//viz.setCameraTransform(camera_pose);
//viz.pointCameraAt(camera_look_at, Vec3(0,1,0));
// show the model!
viz.report(state);
// Create the force reporter for obtaining the forces applied to the
// model during a forward simulation
ForceReporter* reporter = new ForceReporter(&luxo);
luxo.addAnalysis(reporter);
//setup simulation
// Create the integrator for integrating system dynamics
SimTK::RungeKuttaMersonIntegrator integrator(luxo.getMultibodySystem());
integrator.setAccuracy(1.0e-6);
// Create the manager managing the forward integration and its outputs
Manager manager(luxo, integrator);
// Print out details of the model
luxo.printDetailedInfo(state, std::cout);
// Integrate from initial time to final time
manager.setInitialTime(0.0);
manager.setFinalTime(sim_time);
std::cout<<"Integrating for " << sim_time << " seconds" <<std::endl;
manager.integrate(state);
std::cout<<"Integration finished."<<std::endl;
//////////////////////////////
// SAVE THE RESULTS TO FILE //
//////////////////////////////
// Save the model
luxo.print("Luxo_Myo.osim");
// Save the model states from forward integration
auto statesTable = manager.getStatesTable();
STOFileAdapter::write(statesTable, "luxo_states.sto");
// Save the forces
auto forcesTable = reporter->getForcesTable();
STOFileAdapter::write(forcesTable, "luxo_forces.sto");
std::cout << "OpenSim example completed successfully.\n";
// enter anything in the command prompt to quit
std::cout << "Enter anything to quit." << std::endl;
std::cin.get();
}
catch (OpenSim::Exception ex)
{
std::cout << ex.getMessage() << std::endl;
return 1;
}
catch (std::exception ex)
{
std::cout << ex.what() << std::endl;
return 1;
}
catch (...)
{
std::cout << "UNRECOGNIZED EXCEPTION" << std::endl;
return 1;
}
return 0;
}
/**
* Run a simulation of a sliding block being pulled by two muscle
*/
int main()
{
std::clock_t startTime = std::clock();
try {
///////////////////////////////////////////////
// DEFINE THE SIMULATION START AND END TIMES //
///////////////////////////////////////////////
// Define the initial and final simulation times
double initialTime = 0.0;
double finalTime = 10.0;
///////////////////////////////////////////
// DEFINE BODIES AND JOINTS OF THE MODEL //
///////////////////////////////////////////
// Create an OpenSim model and set its name
Model osimModel;
osimModel.setName("tugOfWar");
// GROUND FRAME
// Get a reference to the model's ground body
Ground& ground = osimModel.updGround();
// Add display geometry to the ground to visualize in the GUI
ground.attachGeometry(new Mesh("ground.vtp"));
ground.attachGeometry(new Mesh("anchor1.vtp"));
ground.attachGeometry(new Mesh("anchor2.vtp"));
// BLOCK BODY
// Specify properties of a 20 kg, 10cm length block body
double blockMass = 20.0, blockSideLength = 0.1;
Vec3 blockMassCenter(0);
Inertia blockInertia = blockMass*Inertia::brick(blockSideLength,
blockSideLength, blockSideLength);
// Create a new block body with the specified properties
OpenSim::Body *block = new OpenSim::Body("block", blockMass,
blockMassCenter, blockInertia);
// Add display geometry to the block to visualize in the GUI
block->attachGeometry(new Mesh("block.vtp"));
// FREE JOINT
// Create a new free joint with 6 degrees-of-freedom (coordinates)
// between the block and ground bodies
double halfLength = blockSideLength/2.0;
Vec3 locationInParent(0, halfLength, 0), orientationInParent(0);
Vec3 locationInBody(0, halfLength, 0), orientationInBody(0);
FreeJoint *blockToGround = new FreeJoint("blockToGround", ground,
locationInParent, orientationInParent,
*block, locationInBody, orientationInBody);
// Set the angle and position ranges for the free (6-degree-of-freedom)
// joint between the block and ground frames.
double angleRange[2] = {-SimTK::Pi/2, SimTK::Pi/2};
double positionRange[2] = {-1, 1};
blockToGround->updCoordinate(FreeJoint::Coord::Rotation1X).setRange(angleRange);
blockToGround->updCoordinate(FreeJoint::Coord::Rotation2Y).setRange(angleRange);
blockToGround->updCoordinate(FreeJoint::Coord::Rotation3Z).setRange(angleRange);
blockToGround->updCoordinate(FreeJoint::Coord::TranslationX).setRange(positionRange);
blockToGround->updCoordinate(FreeJoint::Coord::TranslationY).setRange(positionRange);
blockToGround->updCoordinate(FreeJoint::Coord::TranslationZ).setRange(positionRange);
// Add the block body to the model
osimModel.addBody(block);
osimModel.addJoint(blockToGround);
///////////////////////////////////////
// DEFINE FORCES ACTING ON THE MODEL //
///////////////////////////////////////
// MUSCLE FORCES
// Create two new muscles
double maxIsometricForce = 1000.0, optimalFiberLength = 0.2,
tendonSlackLength = 0.1, pennationAngle = 0.0,
fatigueFactor = 0.30, recoveryFactor = 0.20;
// fatigable muscle (Millard2012EquilibriumMuscle with fatigue)
FatigableMuscle* fatigable = new FatigableMuscle("fatigable",
maxIsometricForce, optimalFiberLength, tendonSlackLength,
pennationAngle, fatigueFactor, recoveryFactor);
// original muscle model (muscle without fatigue)
Millard2012EquilibriumMuscle* original =
new Millard2012EquilibriumMuscle("original",
maxIsometricForce, optimalFiberLength, tendonSlackLength,
pennationAngle);
// Define the path of the muscles
fatigable->addNewPathPoint("fatigable-point1", ground,
Vec3(0.0, halfLength, -0.35));
fatigable->addNewPathPoint("fatigable-point2", *block,
Vec3(0.0, halfLength, -halfLength));
original->addNewPathPoint("original-point1", ground,
Vec3(0.0, halfLength, 0.35));
original->addNewPathPoint("original-point2", *block,
Vec3(0.0, halfLength, halfLength));
// Define the default states for the two muscles
// Activation
fatigable->setDefaultActivation(0.01);
original->setDefaultActivation(0.01);
// Fiber length
fatigable->setDefaultFiberLength(optimalFiberLength);
original->setDefaultFiberLength(optimalFiberLength);
// Add the two muscles (as forces) to the model
osimModel.addForce(fatigable);
osimModel.addForce(original);
///////////////////////////////////
// DEFINE CONTROLS FOR THE MODEL //
///////////////////////////////////
// Create a prescribed controller that simply supplies controls as
// a function of time.
// For muscles, controls are normalized stoor-neuron excitations
PrescribedController *muscleController = new PrescribedController();
muscleController->setActuators(osimModel.updActuators());
// Set the prescribed muscle controller to use the same muscle control function for each muscle
muscleController->prescribeControlForActuator("fatigable", new Constant(1.0));
muscleController->prescribeControlForActuator("original", new Constant(1.0));
// Add the muscle controller to the model
osimModel.addController(muscleController);
// Add a Muscle analysis
MuscleAnalysis* muscAnalysis = new MuscleAnalysis(&osimModel);
Array<std::string> coords(blockToGround->getCoordinate(FreeJoint::Coord::TranslationZ).getName(),1);
muscAnalysis->setCoordinates(coords);
muscAnalysis->setComputeMoments(false);
osimModel.addAnalysis(muscAnalysis);
// Turn on the visualizer to view the simulation run live.
osimModel.setUseVisualizer(false);
//////////////////////////
// PERFORM A SIMULATION //
//////////////////////////
// Initialize the system and get the state
SimTK::State& si = osimModel.initSystem();
// Init coords to 0 and lock the rotational degrees of freedom so the block doesn't twist
CoordinateSet& coordinates = osimModel.updCoordinateSet();
coordinates[0].setValue(si, 0);
coordinates[1].setValue(si, 0);
coordinates[2].setValue(si, 0);
coordinates[3].setValue(si, 0);
coordinates[4].setValue(si, 0);
coordinates[5].setValue(si, 0);
coordinates[0].setLocked(si, true);
coordinates[1].setLocked(si, true);
coordinates[2].setLocked(si, true);
// Last coordinate (index 5) is the Z translation of the block
coordinates[4].setLocked(si, true);
// Compute initial conditions for muscles
osimModel.equilibrateMuscles(si);
// Create the integrator, force reporter, and manager for the simulation.
// Create the integrator
SimTK::RungeKuttaMersonIntegrator integrator(osimModel.getMultibodySystem());
integrator.setAccuracy(1.0e-6);
// Create the force reporter
ForceReporter* reporter = new ForceReporter(&osimModel);
osimModel.updAnalysisSet().adoptAndAppend(reporter);
// Create the manager
Manager manager(osimModel, integrator);
// Print out details of the model
osimModel.printDetailedInfo(si, std::cout);
// Integrate from initial time to final time
manager.setInitialTime(initialTime);
manager.setFinalTime(finalTime);
std::cout<<"\nIntegrating from "<<initialTime<<" to "<<finalTime<<std::endl;
manager.integrate(si);
//////////////////////////////
// SAVE THE RESULTS TO FILE //
//////////////////////////////
// Save the simulation results
// Save the states
auto statesTable = manager.getStatesTable();
STOFileAdapter_<double>::write(statesTable,
"tugOfWar_fatigue_states.sto");
auto forcesTable = reporter->getForcesTable();
STOFileAdapter_<double>::write(forcesTable,
"tugOfWar_fatigue_forces.sto");
// Save the muscle analysis results
IO::makeDir("MuscleAnalysisResults");
muscAnalysis->printResults("fatigue", "MuscleAnalysisResults");
// Save the OpenSim model to a file
osimModel.print("tugOfWar_fatigue_model.osim");
}
catch (const std::exception& ex)
{
std::cout << ex.what() << std::endl;
return 1;
}
catch (...)
{
std::cout << "UNRECOGNIZED EXCEPTION" << std::endl;
return 1;
}
std::cout << "main() routine time = " << 1.e3*(std::clock()-startTime)/CLOCKS_PER_SEC << "ms\n";
std::cout << "OpenSim example completed successfully.\n";
return 0;
}
/**
* Run a simulation of block sliding with contact on by two muscles sliding with contact
*/
int main()
{
try {
// Create a new OpenSim model
Model osimModel;
osimModel.setName("osimModel");
osimModel.setAuthors("Matt DeMers");
double Pi = SimTK::Pi;
// Get the ground body
Ground& ground = osimModel.updGround();
ground.attachGeometry(new Mesh("checkered_floor.vtp"));
// create linkage body
double linkageMass = 0.001, linkageLength = 0.5, linkageDiameter = 0.06;
Vec3 linkageMassCenter(0,linkageLength/2,0);
Inertia linkageInertia = Inertia::cylinderAlongY(linkageDiameter/2.0, linkageLength/2.0);
OpenSim::Body* linkage1 = new OpenSim::Body("linkage1", linkageMass, linkageMassCenter, linkageMass*linkageInertia);
linkage1->attachGeometry(new Sphere(0.1));
// Graphical representation
Cylinder cyl(linkageDiameter/2, linkageLength);
Frame* cyl1Frame = new PhysicalOffsetFrame(*linkage1,
Transform(Vec3(0.0, linkageLength / 2.0, 0.0)));
cyl1Frame->setName("Cyl1_frame");
cyl1Frame->attachGeometry(cyl.clone());
osimModel.addFrame(cyl1Frame);
// Create a second linkage body as a clone of the first
OpenSim::Body* linkage2 = linkage1->clone();
linkage2->setName("linkage2");
Frame* cyl2Frame = new PhysicalOffsetFrame(*linkage2,
Transform(Vec3(0.0, linkageLength / 2.0, 0.0)));
cyl2Frame->setName("Cyl2_frame");
osimModel.addFrame(cyl2Frame);
// Create a block to be the pelvis
double blockMass = 20.0, blockSideLength = 0.2;
Vec3 blockMassCenter(0);
Inertia blockInertia = blockMass*Inertia::brick(blockSideLength, blockSideLength, blockSideLength);
OpenSim::Body *block = new OpenSim::Body("block", blockMass, blockMassCenter, blockInertia);
block->attachGeometry(new Brick(SimTK::Vec3(0.05, 0.05, 0.05)));
// Create 1 degree-of-freedom pin joints between the bodies to create a kinematic chain from ground through the block
Vec3 orientationInGround(0), locationInGround(0), locationInParent(0.0, linkageLength, 0.0), orientationInChild(0), locationInChild(0);
PinJoint *ankle = new PinJoint("ankle", ground, locationInGround, orientationInGround, *linkage1,
locationInChild, orientationInChild);
PinJoint *knee = new PinJoint("knee", *linkage1, locationInParent, orientationInChild, *linkage2,
locationInChild, orientationInChild);
PinJoint *hip = new PinJoint("hip", *linkage2, locationInParent, orientationInChild, *block,
locationInChild, orientationInChild);
double range[2] = {-SimTK::Pi*2, SimTK::Pi*2};
ankle->updCoordinate().setName("q1");
ankle->updCoordinate().setRange(range);
knee->updCoordinate().setName("q2");
knee->updCoordinate().setRange(range);
hip->updCoordinate().setName("q3");
hip->updCoordinate().setRange(range);
// Add the bodies to the model
osimModel.addBody(linkage1);
osimModel.addBody(linkage2);
osimModel.addBody(block);
// Add the joints to the model
osimModel.addJoint(ankle);
osimModel.addJoint(knee);
osimModel.addJoint(hip);
// Define constraints on the model
// Add a point on line constraint to limit the block to vertical motion
Vec3 lineDirection(0,1,0), pointOnLine(0,0,0), pointOnBlock(0);
PointOnLineConstraint *lineConstraint = new PointOnLineConstraint(ground, lineDirection, pointOnLine, *block, pointOnBlock);
osimModel.addConstraint(lineConstraint);
// Add PistonActuator between the first linkage and the block
Vec3 pointOnBodies(0);
PistonActuator *piston = new PistonActuator();
piston->setName("piston");
piston->setBodyA(linkage1);
piston->setBodyB(block);
piston->setPointA(pointOnBodies);
piston->setPointB(pointOnBodies);
piston->setOptimalForce(200.0);
piston->setPointsAreGlobal(false);
osimModel.addForce(piston);
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Added ControllableSpring between the first linkage and the second block
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
ControllableSpring *spring = new ControllableSpring;
spring->setName("spring");
spring->setBodyA(block);
spring->setBodyB(linkage1);
spring->setPointA(pointOnBodies);
spring->setPointB(pointOnBodies);
spring->setOptimalForce(2000.0);
spring->setPointsAreGlobal(false);
spring->setRestLength(0.8);
osimModel.addForce(spring);
// define the simulation times
double t0(0.0), tf(15);
// create a controller to control the piston and spring actuators
// the prescribed controller sets the controls as functions of time
PrescribedController *legController = new PrescribedController();
// give the legController control over all (two) model actuators
legController->setActuators(osimModel.updActuators());
// specify some control nodes for spring stiffness control
double t[] = {0.0, 4.0, 7.0, 10.0, 15.0};
double x[] = {1.0, 1.0, 0.25, 0.25, 5.0};
// specify the control function for each actuator
legController->prescribeControlForActuator("piston", new Constant(0.1));
legController->prescribeControlForActuator("spring", new PiecewiseLinearFunction(5, t, x));
// add the controller to the model
osimModel.addController(legController);
// define the acceleration due to gravity
osimModel.setGravity(Vec3(0, -9.80665, 0));
// enable the model visualizer see the model in action, which can be
// useful for debugging
osimModel.setUseVisualizer(false);
// Initialize system
SimTK::State& si = osimModel.initSystem();
// Pin joint initial states
double q1_i = -Pi/4;
double q2_i = - 2*q1_i;
CoordinateSet &coordinates = osimModel.updCoordinateSet();
coordinates[0].setValue(si, q1_i, true);
coordinates[1].setValue(si,q2_i, true);
// Setup integrator and manager
SimTK::RungeKuttaMersonIntegrator integrator(osimModel.getMultibodySystem());
integrator.setAccuracy(1.0e-3);
ForceReporter *forces = new ForceReporter(&osimModel);
osimModel.updAnalysisSet().adoptAndAppend(forces);
Manager manager(osimModel, integrator);
//Examine the model
osimModel.printDetailedInfo(si, std::cout);
// Save the model
osimModel.print("toyLeg.osim");
// Print out the initial position and velocity states
si.getQ().dump("Initial q's");
si.getU().dump("Initial u's");
std::cout << "Initial time: " << si.getTime() << std::endl;
// Integrate
manager.setInitialTime(t0);
manager.setFinalTime(tf);
std::cout<<"\n\nIntegrating from " << t0 << " to " << tf << std::endl;
manager.integrate(si);
// Save results
auto controlsTable = osimModel.getControlsTable();
STOFileAdapter_<double>::write(controlsTable,
"SpringActuatedLeg_controls.sto");
auto statesTable = manager.getStatesTable();
osimModel.updSimbodyEngine().convertRadiansToDegrees(statesTable);
STOFileAdapter_<double>::write(statesTable,
"SpringActuatedLeg_states_degrees.sto");
auto forcesTable = forces->getForcesTable();
STOFileAdapter_<double>::write(forcesTable, "actuator_forces.sto");
}
catch (const std::exception& ex)
{
std::cout << "Exception in toyLeg_example: " << ex.what() << std::endl;
return 1;
}
std::cout << "Done." << std::endl;
return 0;
}
