simtk.org

Code: Select all

model = osim.Model(model_file)
motion = osim.Storage(motion_file)

# Set up ForwardTool and run simulation
dt = motion.getMinTimeStep()
final_time = motion.getLastTime()
tool = osim.ForwardTool()
tool.setModel(model)
tool.setControlsFileName(motion_file)
tool.setResultsDir("path/to/results/")
tool.setInitialTime(0)
tool.setFinalTime(final_time)
tool.setMinDT(dt)
tool.run()

# Get the hand bodypart by name
hand = model.getBodySet().get("hand_r")

# Create a Vec3 object to specify the point on the body

point = hand.getPositionInGround(state)
print(point)

# Iterate over the frames of the motion data
for i in range(motion.getSize()):
    state = model.initSystem()

    # Set the model's state to match the motion frame
    time = motion.getStateVector(i).getTime()
    state.setTime(time)

    # Get the global position of the wrist joint
    hand_pos = osim.Vec3()  # Create an empty Vec3 object to store the result
    model.getSimbodyEngine().getPosition(state, hand, point, hand_pos)
    model.getFrameList
    # Extract the x, y, and z coordinates
    x_coord = hand_pos.get(0)
    y_coord = hand_pos.get(1)
    z_coord = hand_pos.get(2)

    # Print or store the coordinates
    print("Frame {}: Time={}, Hand_r Coordinates: X={}, Y={}, Z={}".format(i, time, x_coord, y_coord, z_coord))
    

Code: Select all

for t in time_steps:

    #time = motion.getStateVector(t).getTime()
    state.setTime(t)

    # Get the body transform for "hand_r" in the updated state
    hand_r = model.getBodySet().get("hand_r")
    body_transform = hand_r.getTransformInGround(state)
    
    # Get the position and orientation
    position = body_transform.p()
    orientation = body_transform.R().convertRotationToQuaternion()

    print("Time:", t)
    print("Position:", position)
    print("Orientation:", orientation)
    print()