OpenSimParser (Artisynth API documentation)

java.lang.Object
- artisynth.core.opensim.OpenSimParser

```
public class OpenSimParser
extends java.lang.Object
```
Reads an OpenSim model from a .osim file and associated geometry folder, and creates the corresponding ArtiSynth components and arranges them in a MechModel. The OpenSim component hierarchy is preserved, and the resulting MechModel components can be queried after using methods supplied by this parser. Not all OpenSim components are implemented, but those that are include most of the commonly used components found in "bodyset", "jointset", "forceset", "constraintset", and "markersset".

Field Summary

Fields
Modifier and Type Field and Description

static boolean myFrameGeometryVisible

static boolean myIgnoreFrameGeometry

Fields
Modifier and Type	Field and Description
`static boolean`	`myFrameGeometryVisible`
`static boolean`	`myIgnoreFrameGeometry`

Constructor Summary

Constructors
Constructor and Description
`OpenSimParser(java.io.File osimFile)` Creates a new OpenSim parser for a specified OpenSim (.osim) file.
`OpenSimParser(java.io.File osimFile, java.io.File geometryPath)` Creates a new OpenSim parser for a specified OpenSim (.osim) file and geometry folder.
`OpenSimParser(java.io.File file, java.io.File geometryPath, OpenSimObjectFactoryStore factories)` Creates a new parser

Method Summary

All Methods Instance Methods Concrete Methods Deprecated Methods
Modifier and Type	Method and Description
`CoordinatePanel`	`createCoordinatePanel()` Creates a panel to control the coordinates of all the joints located beneath the `"jointset"` (OpenSim 4 models) or beneath the `"bodyset"` (OpenSim 3 models).
`CoordinatePanel`	`createCoordinatePanel(java.util.Collection<JointBase> joints)` Creates a panel to control the coordinates of the specified joints.
`CoordinatePanel`	`createCoordinatePanel(java.lang.String[] coordNames)` Creates a panel to control the named coordinates of the joints located beneath the `"jointset"` (OpenSim 4 models) or beneath the `"bodyset"` (OpenSim 3 models).
`ControlPanel`	`createExcitationPanel()` Creates a control panel for all the muscle excitations.
`ControlPanel`	`createExcitationPanel(java.lang.String[] muscleNames)` Creates a control panel for the excitations of all the names muscles.
`MechModel`	`createModel()` Creates a `MechModel` and populates is with ArtiSynth implementations of components read from the OpenSim file, preserving the OpenSim names and component hierarchy.
`MechModel`	`createModel(MechModel mech)` Populates a `MechModel` with ArtiSynth implementations of components read from the OpenSim file, preserving the OpenSim names and component hierarchy.
`RigidBody`	`findBody(java.lang.String name)` Finds a specific rigid body within the "bodyset" by name.
`ConstrainerBase`	`findConstraint(java.lang.String name)` Finds a specific constraint by name.
`JointCoordinateHandle`	`findCoordinate(java.lang.String name)` Returns a handle for a specific coordinate in one of the joints returned by `getJoints()`.
`ForceComponent`	`findForceComponent(java.lang.String name)` Finds a specific force component by name.
`JointBase`	`findJoint(java.lang.String name)` Finds a specific joint by name.
`Marker`	`findMarker(java.lang.String name)` Finds a specific marker by name.
`PointSpringBase`	`findMuscleOrSpring(java.lang.String name)` Finds a specific muscle or line-based spring by name.
`WrapComponent`	`findWrapObject(java.lang.String name)` Finds a specific wrap object by name.
`RenderableComponentList<RigidBody>`	`getBodySet()` Returns the top-level `"bodyset"` rigid body list component contained in the MecModel associated with this parser.
`java.util.ArrayList<WrapComponent>`	`getBodyWrapObjects(RigidBody body)` Returns a list of the wrap objects attached to a specific rigid body.
`ModelComponentMap`	`getComponentMap()` Returns the ModelComponentMap for the most recently created model, or {#code null} if no model has been created yet.
`RenderableComponentList<ConstrainerBase>`	`getConstraintSet()` Returns the top-level `"constraintset"` constrainer list component contained in the MecModel associated with this parser.
`java.util.ArrayList<JointCoordinateHandle>`	`getCoordinates()` Returns a list of coordinate handles for all the joints returned by `getJoints()`.
`java.util.ArrayList<ForceComponent>`	`getForceComponents()` Returns a list of the all the `ForceComponent` located beneath the `"forceset"`.
`RenderableComponentList<ModelComponent>`	`getForceSet()` Returns the top-level `"forceset"` force effector list component contained in the MecModel associated with this parser.
`boolean`	`getFrameGeometryVisible()`
`java.io.File`	`getGeometryFolder()` Returns the primary geometry folder currently used by this parser.
`java.io.File`	`getGeometryPath()` Deprecated. Use `getGeometryFolder()` instead.
`RigidBody`	`getGround()` Returns the top-level `"ground"` rigid body contained in the MecModel associated with this parser.
`boolean`	`getIgnoreFrameGeometry()`
`java.util.ArrayList<JointBase>`	`getJoints()` Returns a list of all the joints located beneath the `"jointset"` (OpenSim 4 models) or beneath the `"bodyset"` (OpenSim 3 models).
`RenderableComponentList<JointBase>`	`getJointSet()` Returns the top-level `"jointset"` joint list component contained in the MecModel associated with this parser.
`PointList<Marker>`	`getMarkerSet()` Returns the top-level `"markerset"` marker list component contained in the MecModel associated with this parser.
`MechModel`	`getMechModel()` Returns the `MechModel` either most recently populated or created by `createModel(MechModel)` or `createModel()`, or set using `setMechModel(artisynth.core.mechmodels.MechModel)`.
`java.util.ArrayList<PointSpringBase>`	`getMusclesAndSprings()` Returns a list of the all the muscle and and line-based spring components located beneath the `"forceset"`.
`java.util.List<WrapComponent>`	`getMuscleWrapObjects(PointSpringBase muscle)` Returns a list of all the wrap objects associated with a specific muscle or spring.
`java.util.ArrayList<WrapComponent>`	`getWrapObjects()` Returns a list of all wrap objects attached to the rigid bodies located under the "bodyset".
`void`	`load()`
`void`	`removeWrapObject(WrapComponent wobj)` Remove a wrap object and its associated attachment from their positions in the OpenSim component hierarchy.
`void`	`replaceMarker(Marker mkr, PointAttachable body)` Replace a marker in the OpenSim component hierarchy with a new marker that is created by attaching to the specified body or frame in the same location.
`void`	`replaceMusclePoint(PointSpringBase muscle, Marker pnt, PointAttachable body)` Replace a muscle path point in the OpenSim component hierarchy with a new point that is created by attaching to the specified body or frame in the same location.
`void`	`setBodyFramesVisible(Renderer.AxisDrawStyle style, double axisLength)` Convenience method to set the visibility of the coordinate frames of the rigid bodies located beneath the "bodyset", plus "ground".
`void`	`setFrameGeometryVisible(boolean enable)`
`void`	`setGeometryPath(java.io.File geometryPath)` Sets the geometry folder to be used in subsequent calls to `createModel(artisynth.core.mechmodels.MechModel)` or `createModel(MechModel)`).
`void`	`setIgnoreFrameGeometry(boolean ignore)`
`void`	`setMechModel(MechModel mech)` Explicitly sets the `MechModel` associated with this parser.
`void`	`setWrapObjectsVisible(boolean visible)` Convenience method to set the visibility of the all wrap objects attached to the rigid bodies located under the "bodyset".
`void`	`updateMusclePaths()` Update wrap paths for all muscles.
`void`	`zeroMuscleExcitations()` Convenience method to zero the excitations of all muscle components located beneath the `"forceset"`.

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - myIgnoreFrameGeometry
```
public static boolean myIgnoreFrameGeometry
```
  - myFrameGeometryVisible
```
public static boolean myFrameGeometryVisible
```
- Constructor Detail
  - OpenSimParser
```
public OpenSimParser(java.io.File file,
                     java.io.File geometryPath,
                     OpenSimObjectFactoryStore factories)
```
    Creates a new parser
    
    Parameters:
    
    file - file to parse
    
    geometryPath - folder to search for geometries
    
    factories - factory storage for generating OpenSim objects from file
  - OpenSimParser
```
public OpenSimParser(java.io.File osimFile,
                     java.io.File geometryPath)
```
    Creates a new OpenSim parser for a specified OpenSim (.osim) file and geometry folder. Constructing the parser does not load the model; that must be done after by createModel(artisynth.core.mechmodels.MechModel) or createModel(MechModel).
    
    Parameters:
    
    osimFile - OpenSim file to parse
    
    geometryPath - folder containing the OpenSim geometry
  - OpenSimParser
```
public OpenSimParser(java.io.File osimFile)
```
    Creates a new OpenSim parser for a specified OpenSim (.osim) file. Constructing the parser does not load the model; that must be done after by createModel(artisynth.core.mechmodels.MechModel) or createModel(MechModel)). For model loading to succeed, a geometry folder will most likely need to be specified first using setGeometryPath(java.io.File).
    
    Parameters:
    
    osimFile - OpenSim file to parse
- Method Detail
  - load
```
public void load()
```
  - setGeometryPath
```
public void setGeometryPath(java.io.File geometryPath)
```
    Sets the geometry folder to be used in subsequent calls to createModel(artisynth.core.mechmodels.MechModel) or createModel(MechModel)).
    
    Parameters:
    
    geometryPath - folder containing the OpenSim geometry
  - getGeometryPath
```
public java.io.File getGeometryPath()
```
    Deprecated. Use getGeometryFolder() instead.
  - getGeometryFolder
```
public java.io.File getGeometryFolder()
```
    Returns the primary geometry folder currently used by this parser.
    
    Returns:
    
    path to primary geometry folder
  - getFrameGeometryVisible
```
public boolean getFrameGeometryVisible()
```
  - setFrameGeometryVisible
```
public void setFrameGeometryVisible(boolean enable)
```
  - getIgnoreFrameGeometry
```
public boolean getIgnoreFrameGeometry()
```
  - setIgnoreFrameGeometry
```
public void setIgnoreFrameGeometry(boolean ignore)
```
  - createModel
```
public MechModel createModel(MechModel mech)
```
    Populates a MechModel with ArtiSynth implementations of components read from the OpenSim file, preserving the OpenSim names and component hierarchy. Unrecognized or implemented components are indicated by warning messages printed on the console.
    
    Parameters:
    
    mech - MechModel to populate. If null, then a new model will be created.
    
    Returns:
    
    populated model (either mech, or the newly created model)
  - createModel
```
public MechModel createModel()
```
    Creates a MechModel and populates is with ArtiSynth implementations of components read from the OpenSim file, preserving the OpenSim names and component hierarchy. Unrecognized or implemented components are indicated by warning messages printed on the console.
    
    Returns:
    
    created model
  - getComponentMap
```
public ModelComponentMap getComponentMap()
```
    Returns the ModelComponentMap for the most recently created model, or {#code null} if no model has been created yet.
    
    Returns:
    
    most recent component map.
  - getMechModel
```
public MechModel getMechModel()
```
    Returns the MechModel either most recently populated or created by createModel(MechModel) or createModel(), or set using setMechModel(artisynth.core.mechmodels.MechModel).
    
    Returns:
    
    most recently populated or set model
  - setMechModel
```
public void setMechModel(MechModel mech)
```
    Explicitly sets the MechModel associated with this parser.
    
    Parameters:
    
    mech - MechModel to associated with this parser
  - getGround
```
public RigidBody getGround()
```
    Returns the top-level "ground" rigid body contained in the MecModel associated with this parser. For OpenSim 4 models, this returns separate ground component. For OpenSim 3, the bodyset is searched for a component named "ground".
    
    Returns:
    
    "ground" component, or null if not present.
  - getBodySet
```
public RenderableComponentList<RigidBody> getBodySet()
```
    Returns the top-level "bodyset" rigid body list component contained in the MecModel associated with this parser.
    
    Returns:
    
    "bodyset" component, or null if not present.
  - findBody
```
public RigidBody findBody(java.lang.String name)
```
    Finds a specific rigid body within the "bodyset" by name.
    
    Parameters:
    
    name - name of the requested body
    
    Returns:
    
    body, or null if not found
  - setBodyFramesVisible
```
public void setBodyFramesVisible(Renderer.AxisDrawStyle style,
                                 double axisLength)
```
    Convenience method to set the visibility of the coordinate frames of the rigid bodies located beneath the "bodyset", plus "ground". The visibility is controlled by the enumerated type Renderer.AxisDrawStyle, and the default value is OFF.
    
    Parameters:
    
    style - draw style for the coordinate frame
    
    axisLength - if > 0, sets the length of the coordinate frames. Otherwise, the length is unchanged.
  - getWrapObjects
```
public java.util.ArrayList<WrapComponent> getWrapObjects()
```
    Returns a list of all wrap objects attached to the rigid bodies located under the "bodyset". In addition to being rigid bodies themselves, all of the returned objects are instances of Wrappable.
    
    Returns:
    
    list of the wrap objects
  - getBodyWrapObjects
```
public java.util.ArrayList<WrapComponent> getBodyWrapObjects(RigidBody body)
```
    Returns a list of the wrap objects attached to a specific rigid body. An empty list is returned if no wrap objects are attached to the body. In addition to being rigid bodies themselves, all of the returned objects also implement Wrappable.
    
    Parameters:
    
    body - body for which wrap objects are requested
    
    Returns:
    
    list of the body's wrap objects
  - setWrapObjectsVisible
```
public void setWrapObjectsVisible(boolean visible)
```
    Convenience method to set the visibility of the all wrap objects attached to the rigid bodies located under the "bodyset".
    
    Parameters:
    
    visible - if true, wrap objects are set visible.
  - findWrapObject
```
public WrapComponent findWrapObject(java.lang.String name)
```
    Finds a specific wrap object by name.
    
    Parameters:
    
    name - name of the wrap object
    
    Returns:
    
    wrap object, or null if not found
  - getJointSet
```
public RenderableComponentList<JointBase> getJointSet()
```
    Returns the top-level "jointset" joint list component contained in the MecModel associated with this parser. Note: this component is only present for OpenSim 4 models. For OpenSim 3 models, one can obtain the joints using getJoints() instead.
    
    Returns:
    
    "jointset" component, or null if not present.
  - getJoints
```
public java.util.ArrayList<JointBase> getJoints()
```
    Returns a list of all the joints located beneath the "jointset" (OpenSim 4 models) or beneath the "bodyset" (OpenSim 3 models).
    
    Returns:
    
    "jointset" component, or null if not present.
  - findJoint
```
public JointBase findJoint(java.lang.String name)
```
    Finds a specific joint by name.
    
    Parameters:
    
    name - name of the requested joint
    
    Returns:
    
    joint, or null if not found
  - getCoordinates
```
public java.util.ArrayList<JointCoordinateHandle> getCoordinates()
```
    Returns a list of coordinate handles for all the joints returned by getJoints().
    
    Returns:
    
    list of handles for all coordinates
  - findCoordinate
```
public JointCoordinateHandle findCoordinate(java.lang.String name)
```
    Returns a handle for a specific coordinate in one of the joints returned by getJoints().
    
    Parameters:
    
    name - name of the requested coordinate
    
    Returns:
    
    coordinate handle, or null if not found
  - getForceSet
```
public RenderableComponentList<ModelComponent> getForceSet()
```
    Returns the top-level "forceset" force effector list component contained in the MecModel associated with this parser. Note: the components in this list are sometimes composite components that contain the actual ForceComponent as a descendent. To obtain an explicit list of the force components, use getForceComponents().
    
    Returns:
    
    "forceset" component, or null if not present.
  - getForceComponents
```
public java.util.ArrayList<ForceComponent> getForceComponents()
```
    Returns a list of the all the ForceComponent located beneath the "forceset". If the forceset is not present, an empty list is returned.
    
    Returns:
    
    list of force components in the "forceset"
  - getMusclesAndSprings
```
public java.util.ArrayList<PointSpringBase> getMusclesAndSprings()
```
    Returns a list of the all the muscle and and line-based spring components located beneath the "forceset". If the forceset is not present, an empty list is returned.
    
    Returns:
    
    list of muscle and line-based springs in the "forceset"
  - findForceComponent
```
public ForceComponent findForceComponent(java.lang.String name)
```
    Finds a specific force component by name.
    
    Parameters:
    
    name - name of the force component
    
    Returns:
    
    force component, or null if not found
  - findMuscleOrSpring
```
public PointSpringBase findMuscleOrSpring(java.lang.String name)
```
    Finds a specific muscle or line-based spring by name.
    
    Parameters:
    
    name - name of the muscle/spring
    
    Returns:
    
    muscle/spring, or null if not found
  - zeroMuscleExcitations
```
public void zeroMuscleExcitations()
```
    Convenience method to zero the excitations of all muscle components located beneath the "forceset". This is useful when a newly loaded model contains small bias excitations.
  - getMuscleWrapObjects
```
public java.util.List<WrapComponent> getMuscleWrapObjects(PointSpringBase muscle)
```
    Returns a list of all the wrap objects associated with a specific muscle or spring. If there are no wrap objects, or if the muscle is not an instance of MultiPointSpring or MultiPointMuscle, then an empty list is returned. All of the returned wrap objects
    
    Parameters:
    
    muscle - muscle or line-based spring to query
    
    Returns:
    
    list of associated wrap objects
  - getConstraintSet
```
public RenderableComponentList<ConstrainerBase> getConstraintSet()
```
    Returns the top-level "constraintset" constrainer list component contained in the MecModel associated with this parser.
    
    Returns:
    
    "constraintset" component, or null if not present.
  - findConstraint
```
public ConstrainerBase findConstraint(java.lang.String name)
```
    Finds a specific constraint by name.
    
    Parameters:
    
    name - name of the constraint
    
    Returns:
    
    constraint, or null if not found
  - getMarkerSet
```
public PointList<Marker> getMarkerSet()
```
    Returns the top-level "markerset" marker list component contained in the MecModel associated with this parser.
    
    Returns:
    
    "markerset" component, or null if not present.
  - findMarker
```
public Marker findMarker(java.lang.String name)
```
    Finds a specific marker by name.
    
    Parameters:
    
    name - name of the marker
    
    Returns:
    
    marker, or null if not found
  - createExcitationPanel
```
public ControlPanel createExcitationPanel()
```
    Creates a control panel for all the muscle excitations.
    
    Returns:
    
    created panel
  - createExcitationPanel
```
public ControlPanel createExcitationPanel(java.lang.String[] muscleNames)
```
    Creates a control panel for the excitations of all the names muscles.
    
    Parameters:
    
    muscleNames - names of the muscles for which excitation controls should be created
    
    Returns:
    
    created panel
  - createCoordinatePanel
```
public CoordinatePanel createCoordinatePanel()
```
    Creates a panel to control the coordinates of all the joints located beneath the "jointset" (OpenSim 4 models) or beneath the "bodyset" (OpenSim 3 models).
    
    Returns:
    
    created panel
  - createCoordinatePanel
```
public CoordinatePanel createCoordinatePanel(java.util.Collection<JointBase> joints)
```
    Creates a panel to control the coordinates of the specified joints.
    
    Parameters:
    
    joints - joint for which coordinate controls should be created
    
    Returns:
    
    created panel
  - createCoordinatePanel
```
public CoordinatePanel createCoordinatePanel(java.lang.String[] coordNames)
```
    Creates a panel to control the named coordinates of the joints located beneath the "jointset" (OpenSim 4 models) or beneath the "bodyset" (OpenSim 3 models).
    
    Parameters:
    
    coordNames - names of the coordinates for which controls should be created
    
    Returns:
    
    created panel
  - updateMusclePaths
```
public void updateMusclePaths()
```
    Update wrap paths for all muscles. This can be called after one or more components are repositioned, in order to ensure that the wrap paths remain consistent.
  - removeWrapObject
```
public void removeWrapObject(WrapComponent wobj)
```
    Remove a wrap object and its associated attachment from their positions in the OpenSim component hierarchy. This method should only be called if the wrap object will still be used but attached to another body. If the wrap object is no longer needed, then one should instread call
```
    ComponentUtils.deleteComponentAndDependencies (wobj)
 
```
    which will remove the wrap object and also delete any references that are being made to it by MultiPointSpring objects.
    After this method is called, the wrap object should be added back to the MechModel in a suitable location, and a new attachment for it must also be created and added.
    Parameters:
    
    wobj - wrap object to remove from the hierarchy.
  - replaceMusclePoint
```
public void replaceMusclePoint(PointSpringBase muscle,
                               Marker pnt,
                               PointAttachable body)
```
    Replace a muscle path point in the OpenSim component hierarchy with a new point that is created by attaching to the specified body or frame in the same location. The new point is given the same name as the previous point. The point itself is assumed to be an instance of Marker since this is always true for this parser's implementation of OpenSim path points.
    This method performs various checks to ensure that the point is located in the expected place within the OpenSim component hierarchy, If it is not, then an exception is thrown.
    
    Parameters:
    
    muscle - muscle or axial spring whose point should be reassigned.
    
    pnt - path point to replace
    
    body - to connect the new path point to
  - replaceMarker
```
public void replaceMarker(Marker mkr,
                          PointAttachable body)
```
    Replace a marker in the OpenSim component hierarchy with a new marker that is created by attaching to the specified body or frame in the same location. The new point is given the same name as the previous point.
    This method checks to ensure that the point is located within the marker set in the OpenSim component hierarchy, If it is not, then an exception is thrown. It also assumes that nothing is connected to the marker; if it is, that application must handle this.
    
    Parameters:
    
    mkr - marker point to replace
    
    body - to connect the new marker to

Class OpenSimParser

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

myIgnoreFrameGeometry

myFrameGeometryVisible

Constructor Detail

OpenSimParser

OpenSimParser

OpenSimParser

Method Detail

load

setGeometryPath

getGeometryPath

getGeometryFolder

getFrameGeometryVisible

setFrameGeometryVisible

getIgnoreFrameGeometry

setIgnoreFrameGeometry

createModel

createModel

getComponentMap

getMechModel

setMechModel

getGround

getBodySet

findBody

setBodyFramesVisible

getWrapObjects

getBodyWrapObjects

setWrapObjectsVisible

findWrapObject

getJointSet

getJoints

findJoint

getCoordinates

findCoordinate

getForceSet

getForceComponents

getMusclesAndSprings

findForceComponent

findMuscleOrSpring

zeroMuscleExcitations

getMuscleWrapObjects

getConstraintSet

findConstraint

getMarkerSet

findMarker

createExcitationPanel

createExcitationPanel

createCoordinatePanel

createCoordinatePanel

createCoordinatePanel

updateMusclePaths

removeWrapObject

replaceMusclePoint

replaceMarker