utils.UtilsMujoco

Module Contents

Functions

getCoordinateRange_mjc(mjc_model)
calculateEndPoints_mjc(mjc_model_path, end_points, n_eval)	Calculate the positions of endpoints when iterating all joint angle meshes.
dependencyJointAng(mjc_model, free_jnt_id_array, ...)
lockedJointAng(mjc_model)	find the self-locked joints and corresponding joint angles.
sortMuscleWrapSiteJoint(mjc_model, muscle_para_osim)	find out the wrapping objects, siteside, and corresponding joints
updateSiteSide(mjc_model)
computeMomentArmMuscleJoints(mjc_model, muscle, ...)	Calculate moment arm matries from given muscles and joints
updateWrapSites(mjc_model, wrap_type, wrap_id, ...)	Applies values contained in vec_optimized to optimizing side of mujoco model
getMuscleForceLengthCurvesSim(mjc_model, muscle, ...)	Simplification Version
updateMuscleForceProperties(mjc_model, muscle, res)	Update mujoco muscle property parameters with optimization results.

utils.UtilsMujoco.getCoordinateRange_mjc(mjc_model)

utils.UtilsMujoco.calculateEndPoints_mjc(mjc_model_path, end_points, n_eval)

Calculate the positions of endpoints when iterating all joint angle meshes. This is to check the Geometry and Joint Definition matches between the Opensim and the converted MuJoCo models.

Parameters

osimModel_pathstring

Path and name of the Osim model that will be evaluated.

endPointslist of string

The names of the the body whose positions will be evaluated.

Returns

evaData: dict

The evaluation data, including the joint angle meshes and the corresponding endpoint locations

utils.UtilsMujoco.dependencyJointAng(mjc_model, free_jnt_id_array, jnt_ang_array)

utils.UtilsMujoco.lockedJointAng(mjc_model)

find the self-locked joints and corresponding joint angles.

utils.UtilsMujoco.sortMuscleWrapSiteJoint(mjc_model, muscle_para_osim)

find out the wrapping objects, siteside, and corresponding joints that should be optimized for a given muscle

Parameters

mjc_model: mujoco Model

A mujoco model.

muscle_para_osim: dict

The muscle, wrapping_coordinates, coordinate_range information extracted from osim model.

Returns

muscle_para_osim: dict data

add wrapping object, site side, information

utils.UtilsMujoco.updateSiteSide(mjc_model)

utils.UtilsMujoco.computeMomentArmMuscleJoints(mjc_model, muscle, joints, ang_ranges, evalN)

Calculate moment arm matries from given muscles and joints

utils.UtilsMujoco.updateWrapSites(mjc_model, wrap_type, wrap_id, pos_wrap, size_wrap, rot_wrap, side_ids, vec_optimized)

Applies values contained in vec_optimized to optimizing side of mujoco model

Parameters:

mjc_model (mujoco_py.cymj.PyMjModel): MuJoCo model wrap_type (numpy.list): 1D list of string, clarify the wrapping types side_ids (numpy.list): 1D list with the id of sides pos (numpy.list): a list of 3D arrays with the position of the wrapping objects size (numpy.list): a list of 3D arrays with the size of wrapping objects rotation (numpy.list): a list of 4D arrays with the rotation info of wrapping objects torus_flag (numpy.list): a list of strings, clarify whether is the origional wrapping torus vec_optimized (numpy.ndarray): 1D vector with the concatenated array of optimized par

utils.UtilsMujoco.getMuscleForceLengthCurvesSim(mjc_model, muscle, joints, jnt_arr, act_arr)

Simplification Version

Given as INPUT an OpenSim muscle OSModel, a muscle variable and a nr of evaluation points this function returns as musOutput a vector of the muscle variable of interest in the converted MuJoCo model obtained by sampling the ROM of the joint spanned by the muscle in N_EvalPoints evaluation points. For multidof joint the combinations of ROMs are considered. For multiarticular muscles the combination of ROM are considered. The script is totally general because based on generating strings of code correspondent to the encountered code. The strings are evaluated at the end.

utils.UtilsMujoco.updateMuscleForceProperties(mjc_model, muscle, res)

Update mujoco muscle property parameters with optimization results.