ScopePy Reference Manual
Classes
Functions
| Signature | Returns | Description |
|---|---|---|
| evaluate_par_file(arg0: str) | None | Evaluate a .par result from a previous optimization |
| is_array_dtype_float32() | bool | Verify if the NumPy floating point type is 32 bit |
| is_array_dtype_float64() | bool | Verify if the NumPy floating point type is 64 bit |
| is_supported(arg0: str) | bool | Verify if a specific Model type is supported |
| load_model(arg0: str, arg1: str = '') | Model | Load a .scone Model with an optional .par to initialize the parameters |
| load_scenario(arg0: str, arg1: Dict[str, str] = {}) | Scenario | Load a .scone scenario, with an optional Dict of additional settings |
| replace_string_tags(arg0: str) | str | Replace the 'DATE_TIME' tag with the current date and time |
| scone_dir() | str | Get the SCONE Scenarios directory |
| scone_results_dir() | str | Get the SCONE Results directory |
| set_array_dtype_float32() | None | Set the NumPy floating point type to 32 bit |
| set_array_dtype_float64() | None | Set the NumPy floating point type to 64 bit |
| set_log_level(arg0: int) | None | Set the log level |
| version() | str | Get the SCONE version |
Actuator
| Signature | Returns | Description |
|---|---|---|
| add_input(arg0: float) | float | Add input value to this Actuator |
| clear_input() | None | Clear the Actuator input (this is done automatically after each simulation step) |
| input() | float | Get the current Actuator input |
| max_input() | float | Get the maximum Actuator input value |
| min_input() | float | Get the minimum Actuator input value |
| name() | str | Get the name of this Actuator |
Body
| Signature | Returns | Description |
|---|---|---|
| add_external_force(arg0: Vec3) | None | Add an external force to this Body |
| add_external_moment(arg0: Vec3) | None | Add an external moment to this Body |
| ang_acc() | Vec3 | Get the angular acceleration of this Body |
| ang_vel() | Vec3 | Get the angular velocity of this Body |
| clear_external_force_moment() | None | Clear the external forces and moments applied to this Body |
| com_acc() | Vec3 | Get the center-of-mass acceleration of this Body |
| com_pos() | Vec3 | Get the center-of-mass position of this Body |
| com_vel() | Vec3 | Get the center-of-mass velocity of this Body |
| contact_force() | Vec3 | Get the sum of all contact forces acting on this Body |
| contact_moment() | Vec3 | Get the sum of all contact moments acting on this Body |
| contact_point() | Vec3 | Get the average position of contacts acting on this Body |
| external_force() | Vec3 | Get the external perturbation force acting on this Body |
| external_force_at() | Vec3 | Get the position at which the average external force is applied |
| external_moment() | Vec3 | Get the external perturbation moment acting on this Body |
| inertia_diag() | Vec3 | Get the inertia diagonal of this Body |
| mass() | float | Get the mass of this Body |
| name() | str | Get the name of this Body |
| orientation() | Quat | Get the orientation of this Body |
| point_acc(arg0: Vec3) | Vec3 | Get the world linear acceleration of a local point on this Body |
| point_pos(arg0: Vec3) | Vec3 | Get the world position of a local point on this Body |
| point_vel(arg0: Vec3) | Vec3 | Get the world linear velocity of a local point on this Body |
| set_ang_vel(arg0: Vec3) | None | Set the angular velocity of this Body |
| set_external_force(arg0: Vec3) | None | Set the external force at the center-of-mass of this Body |
| set_external_force_at(arg0: Vec3, arg1: Vec3) | None | Set the external force at local point on this Body |
| set_external_moment(arg0: Vec3) | None | Set the external moment of this Body |
| set_lin_vel(arg0: Vec3) | None | Set the linear velocity of this Body |
| set_orientation(arg0: Quat) | None | Set the orientation of this Body |
| set_pos(arg0: Vec3) | None | Set the position of this Body |
Dof
| Signature | Returns | Description |
|---|---|---|
| is_actuated() | bool | Check if this Dof is actuated via a Joint Motor (see Joint) |
| is_rotational() | bool | Check if this is a rotational Dof |
| name() | str | Get the name of this Dof |
| pos() | float | Get the position/value of this Dof [m or rad] |
| rotation_axis() | Vec3 | Get the rotation axis |
| set_pos(arg0: float) | None | Set the Dof position. This is only applied after Model.init_state_from_dofs() |
| set_vel(arg0: float) | None | Set the Dof velocity. This is only applied after Model.init_state_from_dofs() |
| vel() | float | Get the velocity of this Dof |
Joint
| Signature | Returns | Description |
|---|---|---|
| add_motor_torque(arg0: Vec3) | None | Add a torque [Nm^3] to this joint motor |
| body() | Body | Get the child Body of this Joint |
| has_motor() | bool | See if this Joint has a Joint Motor |
| limit_power() | float | Get the Joint limit power |
| limit_torque() | Vec3 | Get the Joint limit torque [Nm^3] |
| load() | float | Get the scalar joint load |
| motor_max_torque() | float | Get the max torque [Nm] for the joint motor |
| name() | str | Get the name of this Joint |
| parent_body() | Body | Get the parent Body of this Joint |
| reaction_force() | Vec3 | Get the Joint reaction force [N^3] |
| set_motor_damping(arg0: float) | None | Set the joint motor damping |
| set_motor_stiffness(arg0: float) | None | Set the joint motor stiffness |
| set_motor_target_orientation(arg0: Quat) | None | Set the target orientation of the joint motor |
| set_motor_target_velocity(arg0: Vec3) | None | Set the target velocity of the joint motor |
Leg
| Signature | Returns | Description |
|---|---|---|
| base_body() | Body | Get the base Body of this Leg |
| contact_force() | Vec3 | Get the contact force applied to this Leg |
| contact_load() | float | Get the contact load applied to this Leg |
| contact_moment() | Vec3 | Get the contact moment applied to this Leg |
| contact_pos() | Vec3 | Get the position of the contact force applied to this Leg |
| foot_body() | Body | Get the foot Body of this Leg |
| length() | float | Get the length [m] of this Leg |
| name() | str | Get the name of this Leg |
| relative_foot_position() | Vec3 | Get the relative foot position [m] of this Leg |
| upper_body() | Body | Get the upper Body of this Leg |
Measure
| Signature | Returns | Description |
|---|---|---|
| current_result(arg0: scone::Model) | float | Get the current_result |
| current_weighted_result(arg0: scone::Model) | float | Get the current_weighted_result |
| final_result(arg0: scone::Model) | float | Get the final_result |
| final_weighted_result(arg0: scone::Model) | float | Get the final_weighted_result |
| name() | str | Get the name |
Model
| Signature | Returns | Description |
|---|---|---|
| actuator_input_array() | numpy.ndarray | Get an array of current actuator inputs |
| actuators() | List[ Actuator ] | Get the array of Actuators in this Model |
| adjust_state_for_load(arg0: float) | None | Adjust the Model state so that is has a specific contact load [BW] |
| advance_simulation_to(arg0: float) | None | Advance the Model simulation to a specific time [s] |
| bodies() | List[ Body ] | Get the array of Bodies in this Model |
| com_pos() | Vec3 | Get the com_pos [m] of this Model |
| com_vel() | Vec3 | Get the com_vel [m/s] of this Model |
| contact_force() | float | Get the contact force [N] applied to this Model |
| contact_load() | float | Get the contact load [BW] applied to this Model |
| contact_power() | float | Get the contact power [W] |
| control_step_size() | float | Get the control step size [s] of this Model |
| current_measure() | float | Get the current (instantaneous) value of the Measure defined in this Model (useful as reward in Reinforcement Learning) |
| delayed_dof_position_array() | numpy.ndarray | Get an array of current delayed dof positions |
| delayed_dof_velocity_array() | numpy.ndarray | Get an array of current delayed dof velocities |
| delayed_muscle_fiber_length_array() | numpy.ndarray | Get an array of current delayed muscle fiber lengths |
| delayed_muscle_fiber_velocity_array() | numpy.ndarray | Get an array of current delayed muscle fiber velocities |
| delayed_muscle_force_array() | numpy.ndarray | Get an array of current delayed muscle forces |
| delayed_vestibular_array() | numpy.ndarray | Get an array of current delayed vestibular sensors |
| dof_position_array() | numpy.ndarray | Get an array of current dof positions |
| dof_velocity_array() | numpy.ndarray | Get an array of current dof velocities |
| dofs() | List[ Dof ] | Get the array of Dofs in this Model |
| final_measure() | float | Get the final (aggregate) value of the Measure defined in this Model (useful for shooting-based optimizations) |
| get_control_parameter(arg0: str) | float | Get the current value of a control parameter |
| get_control_parameter_names() | List[str] | Get a list of all control parameter names in this Model |
| get_store_data() | bool | Get if data is stored during Model simulation |
| gravity() | Vec3 | Get the gravity of this Model |
| has_simulation_ended() | bool | Check if the simulation has terminated |
| init_muscle_activations(arg0: numpy.ndarray) | None | Initialize all muscle activations (must call init_state_from_dofs() afterwards) |
| init_state_from_dofs() | None | Initialize the Model state from the current Dof values and equilibrate all muscles (must be called after modifying Dofs) |
| integration_step() | int | Get the integration step of this Model |
| joints() | List[ Joint ] | Get the array of Joints in this Model |
| legs() | List[ Leg ] | Get the array of Legs in this Model |
| log_measure_report() | None | Log the Measure report |
| mass() | float | Get the mass [kg] of this Model |
| measure() | Measure | Get the Measure defined inside this Model |
| muscle_activation_array() | numpy.ndarray | Get an array of current muscle activations |
| muscle_excitation_array() | numpy.ndarray | Get an array of current muscle excitations |
| muscle_fiber_length_array() | numpy.ndarray | Get an array of current muscle fiber lengths |
| muscle_fiber_velocity_array() | numpy.ndarray | Get an array of current muscle fiber velocities |
| muscle_force_array() | numpy.ndarray | Get an array of current muscle forces |
| muscles() | List[ Muscle ] | Get the array of Muscles in this Model |
| name() | str | Get the name of this Model |
| reset() | None | Reset the model to its initial state |
| set_actuator_inputs(arg0: numpy.ndarray) | None | Set the actuator inputs for this Model |
| set_control_parameter(arg0: str, arg1: float) | int | Set a control parameter (use get_control_parameter_names() for a list of available control parameters) |
| set_delayed_actuator_inputs(arg0: numpy.ndarray) | None | Set the delayed actuator inputs for this Model |
| set_dof_positions(arg0: numpy.ndarray) | None | Set the dof positions for this Model (must call init_state_from_dofs() afterwards) |
| set_dof_velocities(arg0: numpy.ndarray) | None | Set the dof velocities for this Model (must call init_state_from_dofs() afterwards) |
| set_simulation_end_time(arg0: float) | None | Set the simulation end time [s] for this Model |
| set_state(arg0: Dict[str, float]) | None | Set the current state for this Model |
| set_store_data(arg0: bool) | None | Set if data must be stored during Model simulation (slow, do not use in optimizations) |
| state() | Dict[str, float] | Get the current state of this Model |
| time() | float | Get the current simulation time [s] |
| write_results(arg0: str, arg1: str) | None | Write the simulation results to a .sto file |
Muscle
| Signature | Returns | Description |
|---|---|---|
| activation() | float | Get the activation of this Muscle |
| excitation() | float | Get the excitation of this Muscle |
| fiber_length() | float | Get the current fiber length of this Muscle |
| fiber_length_norm() | float | Get the current normalized fiber length this Muscle |
| fiber_velocity() | float | Get the current fiber velocity of this Muscle |
| fiber_velocity_norm() | float | Get the current normalized fiber velocity this Muscle |
| force() | float | Get the current force of this Muscle |
| force_norm() | float | Get the current normalized force this Muscle |
| init_activation(arg0: float) | None | Initialize the Muscle activation |
| insertion_body() | Body | Get the insertion Body of this Muscle |
| max_isometric_force() | float | Get the maximum isometric force of this Muscle |
| name() | str | Get the name of this Muscle |
| optimal_fiber_length() | float | Get the optimum fiber lengths of this Muscle |
| origin_body() | Body | Get the origin Body of this Muscle |
| pennation_angle_at_optimal() | float | Get the pennation angle at optimal of this Muscle |
| tendon_slack_length() | float | Get the tendon slack length of this Muscle |
Optimizer
| Signature | Returns | Description |
|---|---|---|
| current_step() | int | Get the current optimization step |
| enable_console_output() | None | Enable console output |
| finished() | bool | Check if the optimization has finished |
| fitness() | float | Get the current best fitness |
| output_folder() | str | Get the output folder for this optimization |
| run() | None | Start the optimization (waits for the optimization to finish) |
| run_background() | None | Start the optimization in the background (returns immediately) |
| terminate() | None | Terminate the optimization |
| wait(arg0: int) | bool | Wait a number milliseconds for the optimization to finish |
Quat
| Signature | Returns | Description |
|---|---|---|
| array() | numpy.ndarray | Convert to NumPy array |
| normalize() | float | Normalize this Quaternion |
| to_euler_xyz() | Vec3 | Get the XYZ Euler angles of this Quaternion |
| to_euler_xzy() | Vec3 | Get the XZY Euler angles of this Quaternion |
| to_euler_yxz() | Vec3 | Get the YXZ Euler angles of this Quaternion |
| to_euler_yzx() | Vec3 | Get the YZX Euler angles of this Quaternion |
| to_euler_zxy() | Vec3 | Get the ZXY Euler angles of this Quaternion |
| to_euler_zyx() | Vec3 | Get the ZYX Euler angles of this Quaternion |
| to_rotation_vector() | Vec3 | Convert to rotation vector |
Properties
| Signature | Description |
|---|---|
w | W component |
x | X component |
y | Y component |
z | Z component |
Scenario
| Signature | Returns | Description |
|---|---|---|
| create_optimizer() | Optimizer | Create an Optimizer from this Scenario |
| get(arg0: str) | str | Get a Property in this Scenario |
| set(arg0: str, arg1: str) | None | Set a Property in this Scenario |
| set_multiple(arg0: Dict[str, str]) | None | Set multiple Properties in this Scenario |
| start_optimization() | Optimizer | Create and start an Optimizer from this Scenario |
Vec3
Properties
| Signature | Description |
|---|---|
x | X component |
y | Y component |
z | Z component |