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Remove SmoothSphereHalfSpaceForce from Moco.
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@chrisdembia
chrisdembia committed Mar 27, 2020
1 parent 11c96a1 commit ccd39f8
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Showing 15 changed files with 78 additions and 562 deletions.
30 changes: 15 additions & 15 deletions Moco/Bindings/Java/Matlab/Examples/example2DWalking/example2DWalking.m
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Expand Up @@ -35,7 +35,7 @@
% modified version of the 'gait10dof18musc.osim' available within OpenSim. We
% replaced the moving knee flexion axis by a fixed flexion axis, replaced the
% Millard2012EquilibriumMuscles by DeGrooteFregly2016Muscles, and added
% SmoothSphereHalfSpaceForces (two contact spheres per foot) to model the
% SmoothSphereHalfSpaceForces (two contacts per foot) to model the
% contact interactions between the feet and the ground.
%
% Data
Expand Down Expand Up @@ -168,15 +168,15 @@

% Extract ground reaction forces
% ==============================
contactSpheres_r = StdVectorString();
contactSpheres_l = StdVectorString();
contactSpheres_r.add('contactSphereHeel_r');
contactSpheres_r.add('contactSphereFront_r');
contactSpheres_l.add('contactSphereHeel_l');
contactSpheres_l.add('contactSphereFront_l');
contact_r = StdVectorString();
contact_l = StdVectorString();
contact_r.add('contactHeel_r');
contact_r.add('contactFront_r');
contact_l.add('contactHeel_l');
contact_l.add('contactFront_l');

externalForcesTableFlat = opensimMoco.createExternalLoadsTableForGait(model, ...
fullStride,contactSpheres_r,contactSpheres_l);
fullStride,contact_r,contact_l);
opensimMoco.writeTableToFile(externalForcesTableFlat, ...
'gaitTracking_solution_fullStride_GRF.sto');

Expand Down Expand Up @@ -313,20 +313,20 @@

% Extract ground reaction forces
% ==============================
contactSpheres_r = StdVectorString();
contactSpheres_l = StdVectorString();
contactSpheres_r.add('contactSphereHeel_r');
contactSpheres_r.add('contactSphereFront_r');
contactSpheres_l.add('contactSphereHeel_l');
contactSpheres_l.add('contactSphereFront_l');
contact_r = StdVectorString();
contact_l = StdVectorString();
contact_r.add('contactHeel_r');
contact_r.add('contactFront_r');
contact_l.add('contactHeel_l');
contact_l.add('contactFront_l');

% Create a conventional ground reaction forces file by summing the contact
% forces of contact spheres on each foot.
% For details, navigate to
% User Guide > Utilities > Model and trajectory utilities
% in the Moco Documentation.
externalForcesTableFlat = opensimMoco.createExternalLoadsTableForGait(model, ...
fullStride, contactSpheres_r, contactSpheres_l);
fullStride, contact_r, contact_l);
opensimMoco.writeTableToFile(externalForcesTableFlat, ...
'gaitPrediction_solution_fullStride_GRF.sto');

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1 change: 0 additions & 1 deletion Moco/Bindings/OpenSimHeaders_moco.h
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Expand Up @@ -10,7 +10,6 @@
#include <Moco/Components/ModelFactory.h>
#include <Moco/Components/MultivariatePolynomialFunction.h>
#include <Moco/Components/PositionMotion.h>
#include <Moco/Components/SmoothSphereHalfSpaceForce.h>
#include <Moco/MocoBounds.h>
#include <Moco/MocoCasADiSolver/MocoCasADiSolver.h>
#include <Moco/MocoControlBoundConstraint.h>
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1 change: 0 additions & 1 deletion Moco/Bindings/moco.i
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Expand Up @@ -221,7 +221,6 @@ moco_unique_ptr(OpenSim::PositionMotion);
%template(analyzeSpatialVec) OpenSim::analyze<SimTK::SpatialVec>;

%include <Moco/Components/ModelFactory.h>
%include <Moco/Components/SmoothSphereHalfSpaceForce.h>
%include <Moco/Components/MultivariatePolynomialFunction.h>

%include <Moco/ModelOperators.h>
92 changes: 40 additions & 52 deletions Moco/Examples/C++/example2DWalking/2D_gait.osim
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Expand Up @@ -3,19 +3,9 @@
<Model name="2D_gait">
<!--List of components that this component owns and serializes.-->
<components>
<SmoothSphereHalfSpaceForce name="contactSphereHeel_r">
<!--Path to a Component that satisfies the Socket 'sphere_frame' of type PhysicalFrame (description: The body to which the contact sphere is attached.).-->
<socket_sphere_frame>/bodyset/calcn_r</socket_sphere_frame>
<!--Path to a Component that satisfies the Socket 'half_space_frame' of type PhysicalFrame (description: The body to which the contact half space is attached.).-->
<socket_half_space_frame>/ground</socket_half_space_frame>
<!--The location of the contact sphere in the body frame.-->
<contact_sphere_location>0.031307527581931796 0.010435842527310599 0</contact_sphere_location>
<!--The radius of the contact sphere.-->
<contact_sphere_radius>0.035000000000000003</contact_sphere_radius>
<!--The location of the contact half space in the body frame, default is Vec3(0).-->
<contact_half_space_location>0 0 0</contact_half_space_location>
<!--The orientation of the contact half space in the body frame. (body-fixed XYZ Euler angles), default is Vec3(0).-->
<contact_half_space_orientation>0 0 -1.5707963267948966</contact_half_space_orientation>
<SmoothSphereHalfSpaceForce name="contactHeel_r">
<socket_sphere>/contactgeometryset/heel_r</socket_sphere>
<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).-->
Expand All @@ -35,19 +25,9 @@
<!--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 also the more discontinuous-like, default is 50.-->
<hunt_crossley_smoothing>50</hunt_crossley_smoothing>
</SmoothSphereHalfSpaceForce>
<SmoothSphereHalfSpaceForce name="contactSphereHeel_l">
<!--Path to a Component that satisfies the Socket 'sphere_frame' of type PhysicalFrame (description: The body to which the contact sphere is attached.).-->
<socket_sphere_frame>/bodyset/calcn_l</socket_sphere_frame>
<!--Path to a Component that satisfies the Socket 'half_space_frame' of type PhysicalFrame (description: The body to which the contact half space is attached.).-->
<socket_half_space_frame>/ground</socket_half_space_frame>
<!--The location of the contact sphere in the body frame.-->
<contact_sphere_location>0.031307527581931796 0.010435842527310599 0</contact_sphere_location>
<!--The radius of the contact sphere.-->
<contact_sphere_radius>0.035000000000000003</contact_sphere_radius>
<!--The location of the contact half space in the body frame, default is Vec3(0).-->
<contact_half_space_location>0 0 0</contact_half_space_location>
<!--The orientation of the contact half space in the body frame. (body-fixed XYZ Euler angles), default is Vec3(0).-->
<contact_half_space_orientation>0 0 -1.5707963267948966</contact_half_space_orientation>
<SmoothSphereHalfSpaceForce name="contactHeel_l">
<socket_sphere>/contactgeometryset/heel_l</socket_sphere>
<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).-->
Expand All @@ -67,19 +47,9 @@
<!--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 also the more discontinuous-like, default is 50.-->
<hunt_crossley_smoothing>50</hunt_crossley_smoothing>
</SmoothSphereHalfSpaceForce>
<SmoothSphereHalfSpaceForce name="contactSphereFront_r">
<!--Path to a Component that satisfies the Socket 'sphere_frame' of type PhysicalFrame (description: The body to which the contact sphere is attached.).-->
<socket_sphere_frame>/bodyset/calcn_r</socket_sphere_frame>
<!--Path to a Component that satisfies the Socket 'half_space_frame' of type PhysicalFrame (description: The body to which the contact half space is attached.).-->
<socket_half_space_frame>/ground</socket_half_space_frame>
<!--The location of the contact sphere in the body frame.-->
<contact_sphere_location>0.17740932296428019 -0.015653763790965898 0.0052179212636552993</contact_sphere_location>
<!--The radius of the contact sphere.-->
<contact_sphere_radius>0.014999999999999999</contact_sphere_radius>
<!--The location of the contact half space in the body frame, default is Vec3(0).-->
<contact_half_space_location>0 0 0</contact_half_space_location>
<!--The orientation of the contact half space in the body frame. (body-fixed XYZ Euler angles), default is Vec3(0).-->
<contact_half_space_orientation>0 0 -1.5707963267948966</contact_half_space_orientation>
<SmoothSphereHalfSpaceForce name="contactFront_r">
<socket_sphere>/contactgeometryset/front_r</socket_sphere>
<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).-->
Expand All @@ -99,19 +69,9 @@
<!--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 also the more discontinuous-like, default is 50.-->
<hunt_crossley_smoothing>50</hunt_crossley_smoothing>
</SmoothSphereHalfSpaceForce>
<SmoothSphereHalfSpaceForce name="contactSphereFront_l">
<!--Path to a Component that satisfies the Socket 'sphere_frame' of type PhysicalFrame (description: The body to which the contact sphere is attached.).-->
<socket_sphere_frame>/bodyset/calcn_l</socket_sphere_frame>
<!--Path to a Component that satisfies the Socket 'half_space_frame' of type PhysicalFrame (description: The body to which the contact half space is attached.).-->
<socket_half_space_frame>/ground</socket_half_space_frame>
<!--The location of the contact sphere in the body frame.-->
<contact_sphere_location>0.17740932296428019 -0.015653763790965898 -0.0052179212636552993</contact_sphere_location>
<!--The radius of the contact sphere.-->
<contact_sphere_radius>0.014999999999999999</contact_sphere_radius>
<!--The location of the contact half space in the body frame, default is Vec3(0).-->
<contact_half_space_location>0 0 0</contact_half_space_location>
<!--The orientation of the contact half space in the body frame. (body-fixed XYZ Euler angles), default is Vec3(0).-->
<contact_half_space_orientation>0 0 -1.5707963267948966</contact_half_space_orientation>
<SmoothSphereHalfSpaceForce name="contactFront_l">
<socket_sphere>/contactgeometryset/front_l</socket_sphere>
<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).-->
Expand Down Expand Up @@ -2850,5 +2810,33 @@
<objects />
<groups />
</ForceSet>
<ContactGeometrySet name="contactgeometryset">
<objects>
<ContactSphere name="heel_r">
<socket_frame>/bodyset/calcn_r</socket_frame>
<radius>0.035000000000000003</radius>
<location>0.031307527581931796 0.010435842527310599 0</location>
</ContactSphere>
<ContactSphere name="heel_l">
<socket_frame>/bodyset/calcn_l</socket_frame>
<radius>0.035000000000000003</radius>
<location>0.031307527581931796 0.010435842527310599 0</location>
</ContactSphere>
<ContactSphere name="front_r">
<socket_frame>/bodyset/calcn_r</socket_frame>
<radius>0.014999999999999999</radius>
<location>0.17740932296428019 -0.015653763790965898 0.0052179212636552993</location>
</ContactSphere>
<ContactSphere name="front_l">
<socket_frame>/bodyset/calcn_l</socket_frame>
<radius>0.014999999999999999</radius>
<location>0.17740932296428019 -0.015653763790965898 -0.0052179212636552993</location>
</ContactSphere>
<ContactHalfSpace name="floor">
<socket_frame>/ground</socket_frame>
<orientation>0 0 -1.5707963267948966</orientation>
</ContactHalfSpace>
</objects>
</ContactGeometrySet>
</Model>
</OpenSimDocument>
16 changes: 8 additions & 8 deletions Moco/Examples/C++/example2DWalking/example2DWalking.cpp
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Expand Up @@ -31,7 +31,7 @@
/// modified version of the 'gait10dof18musc.osim' available within OpenSim. We
/// replaced the moving knee flexion axis by a fixed flexion axis, replaced the
/// Millard2012EquilibriumMuscles by DeGrooteFregly2016Muscles, and added
/// SmoothSphereHalfSpaceForces (two contact spheres per foot) to model the
/// SmoothSphereHalfSpaceForces (two contacts per foot) to model the
/// contact interactions between the feet and the ground.
///
/// Data
Expand Down Expand Up @@ -287,14 +287,14 @@ void gaitPrediction(const MocoSolution& gaitTrackingSolution) {

// Extract ground reaction forces.
// ===============================
std::vector<std::string> contactSpheres_r;
std::vector<std::string> contactSpheres_l;
contactSpheres_r.push_back("contactSphereHeel_r");
contactSpheres_r.push_back("contactSphereFront_r");
contactSpheres_l.push_back("contactSphereHeel_l");
contactSpheres_l.push_back("contactSphereFront_l");
std::vector<std::string> contact_r;
std::vector<std::string> contact_l;
contact_r.push_back("contactHeel_r");
contact_r.push_back("contactFront_r");
contact_l.push_back("contactHeel_l");
contact_l.push_back("contactFront_l");
TimeSeriesTable externalForcesTableFlat = createExternalLoadsTableForGait(
model, full, contactSpheres_r, contactSpheres_l);
model, full, contact_r, contact_l);
writeTableToFile(externalForcesTableFlat,
"gaitPrediction_solutionGRF_fullcycle.sto");

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2 changes: 0 additions & 2 deletions Moco/Moco/CMakeLists.txt
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Expand Up @@ -74,8 +74,6 @@ set(MOCO_SOURCES
MocoFrameDistanceConstraint.cpp
Components/DeGrooteFregly2016Muscle.h
Components/DeGrooteFregly2016Muscle.cpp
Components/SmoothSphereHalfSpaceForce.h
Components/SmoothSphereHalfSpaceForce.cpp
Components/ActivationCoordinateActuator.h
Components/StationPlaneContactForce.h
Components/StationPlaneContactForce.cpp
Expand Down

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