Model of type OpenSim3.

Inherits from Model.

Public Attributes

Parameter Type Description
model_file String File containing the OpenSim model.
integration_method String Integration method, options are: SemiExplicitEuler, SemiExplicitEuler2 (default), RungeKutta2, RungeKutta3, RungeKuttaMerson.
integration_accuracy double Accuracy parameter for integration; default = 0.001.
initial_load_dof String Name of the DOF that needs to be adjusted to find the required initial_load; default = pelvis_ty.
enable_external_forces bool Boolean that must be set before external forces can be added to the model; default = (automatic).
initial_state_offset const PropNode * Offset [rad] or [m] to apply to initial state; default = 0.
initial_state_offset_symmetric bool Use symmetric offset for left and right; default = 0.
initial_state_offset_include String Pattern matching the states to include in initial offset (semicolon seperated); default = “*”.
initial_state_offset_exclude String Pattern matching the states to exclude in initial offset (semicolon seperated); default = “”.
max_step_size double Maximum integration step size; default = 0.001.
use_fixed_control_step_size bool Use fixed step size for controllers; default = true.
fixed_control_step_size double Step size used for controllers; default = 0.001.
initial_load Real Initial load [BW] at which to place the model initially; default = 0.2;.
sensor_delay_scaling_factor Real Scaling factor to apply to all sensor delays; default = 1.
signature_prefix String Prefix signature with custom string. Special tags: DATE_TIME, DATE_TIME_EXACT, SCONE_VERSION.
signature_postfix String Append custom string to signature. Special tags: DATE_TIME, DATE_TIME_EXACT, SCONE_VERSION.

Public Functions

Function Description
OpenSim::Model & GetOsimModel() Get the OpenSim model attached to this model.

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  • (external edit)