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Fixed the remainning tests that use DeLeva
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@pariterre
pariterre committed Feb 28, 2025
1 parent db4c601 commit b14547f
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Showing 3 changed files with 58 additions and 36 deletions.
2 changes: 1 addition & 1 deletion examples/python3/modelCreation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@
)
import ezc3d

from de_leva import DeLevaTable #@pariterre: this version works on my env, but is is suspicious !
from de_leva import DeLevaTable


#
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90 changes: 56 additions & 34 deletions test/binding/python3/de_leva/__init__.py
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
from biorbd.model_creation import InertiaParameters
import types

import numpy as np


Expand All @@ -7,7 +8,7 @@ def point_on_vector(coef: float, start: np.ndarray, end: np.ndarray) -> np.ndarr


class DeLevaTable:
def __init__(self, total_mass: float, sex: str):
def __init__(self, total_mass: float, sex: str, bmc: types.ModuleType = None):
"""
Implementation of the DeLeva table
Parameters
Expand All @@ -16,85 +17,106 @@ def __init__(self, total_mass: float, sex: str):
The mass of the subject
sex
The sex ('male' or 'female') of the subject
bmc
The biorbd (or biorbd_casadi) model_creation module
"""

if bmc is None:
# This will be called by the example instead of its own de_leva module because of the relative path problem
# So we load it for it anyway
has_loaded = False
try:
import biorbd.model_creation as bmc
has_loaded = True
except ModuleNotFoundError:
pass

try:
import biorbd_casadi.model_creation as bmc
has_loaded = True
except ModuleNotFoundError:
pass

if not has_loaded:
raise ModuleNotFoundError("Could not find biorbd or biorbd_casadi")

self.sex = sex
self.de_leva_table = {
"male": {
"HEAD": InertiaParameters(
"HEAD": bmc.InertiaParameters(
mass=lambda m, bio: 0.0694 * total_mass,
center_of_mass=lambda m, bio: point_on_vector(0.5002, start=m["TOP_HEAD"], end=m["SHOULDER"]),
inertia=lambda m, bio: InertiaParameters.radii_of_gyration_to_inertia(
inertia=lambda m, bio: bmc.InertiaParameters.radii_of_gyration_to_inertia(
mass=0.0694 * total_mass,
coef=(0.303, 0.315, 0.261),
start=m["TOP_HEAD"],
end=m["SHOULDER"],
),
),
"TRUNK": InertiaParameters(
"TRUNK": bmc.InertiaParameters(
mass=lambda m, bio: 0.4346 * total_mass,
center_of_mass=lambda m, bio: point_on_vector(0.5138, start=m["SHOULDER"], end=m["PELVIS"]),
inertia=lambda m, bio: InertiaParameters.radii_of_gyration_to_inertia(
inertia=lambda m, bio: bmc.InertiaParameters.radii_of_gyration_to_inertia(
mass=0.4346 * total_mass,
coef=(0.328, 0.306, 0.169),
start=m["SHOULDER"],
end=m["PELVIS"],
),
),
"UPPER_ARM": InertiaParameters(
"UPPER_ARM": bmc.InertiaParameters(
mass=lambda m, bio: 2 * 0.0271 * total_mass,
center_of_mass=lambda m, bio: point_on_vector(0.5772, start=m["SHOULDER"], end=m["ELBOW"]),
inertia=lambda m, bio: InertiaParameters.radii_of_gyration_to_inertia(
inertia=lambda m, bio: bmc.InertiaParameters.radii_of_gyration_to_inertia(
mass=2 * 0.0271 * total_mass,
coef=(0.285, 0.269, 0.158),
start=m["SHOULDER"],
end=m["ELBOW"],
),
),
"LOWER_ARM": InertiaParameters(
"LOWER_ARM": bmc.InertiaParameters(
mass=lambda m, bio: 2 * 0.0162 * total_mass,
center_of_mass=lambda m, bio: point_on_vector(0.4574, start=m["ELBOW"], end=m["WRIST"]),
inertia=lambda m, bio: InertiaParameters.radii_of_gyration_to_inertia(
inertia=lambda m, bio: bmc.InertiaParameters.radii_of_gyration_to_inertia(
mass=2 * 0.0162 * total_mass,
coef=(0.276, 0.265, 0.121),
start=m["ELBOW"],
end=m["WRIST"],
),
),
"HAND": InertiaParameters(
"HAND": bmc.InertiaParameters(
mass=lambda m, bio: 2 * 0.0061 * total_mass,
center_of_mass=lambda m, bio: point_on_vector(0.7900, start=m["WRIST"], end=m["FINGER"]),
inertia=lambda m, bio: InertiaParameters.radii_of_gyration_to_inertia(
inertia=lambda m, bio: bmc.InertiaParameters.radii_of_gyration_to_inertia(
mass=2 * 0.0061 * total_mass,
coef=(0.628, 0.513, 0.401),
start=m["WRIST"],
end=m["FINGER"],
),
),
"THIGH": InertiaParameters(
"THIGH": bmc.InertiaParameters(
mass=lambda m, bio: 2 * 0.1416 * total_mass,
center_of_mass=lambda m, bio: point_on_vector(0.4095, start=m["PELVIS"], end=m["KNEE"]),
inertia=lambda m, bio: InertiaParameters.radii_of_gyration_to_inertia(
inertia=lambda m, bio: bmc.InertiaParameters.radii_of_gyration_to_inertia(
mass=2 * 0.1416 * total_mass,
coef=(0.329, 0.329, 0.149),
start=m["PELVIS"],
end=m["KNEE"],
),
),
"SHANK": InertiaParameters(
"SHANK": bmc.InertiaParameters(
mass=lambda m, bio: 2 * 0.0433 * total_mass,
center_of_mass=lambda m, bio: point_on_vector(0.4459, start=m["KNEE"], end=m["ANKLE"]),
inertia=lambda m, bio: InertiaParameters.radii_of_gyration_to_inertia(
inertia=lambda m, bio: bmc.InertiaParameters.radii_of_gyration_to_inertia(
mass=2 * 0.0433 * total_mass,
coef=(0.255, 0.249, 0.103),
start=m["KNEE"],
end=m["ANKLE"],
),
),
"FOOT": InertiaParameters(
"FOOT": bmc.InertiaParameters(
mass=lambda m, bio: 2 * 0.0137 * total_mass,
center_of_mass=lambda m, bio: point_on_vector(0.4415, start=m["ANKLE"], end=m["TOE"]),
inertia=lambda m, bio: InertiaParameters.radii_of_gyration_to_inertia(
inertia=lambda m, bio: bmc.InertiaParameters.radii_of_gyration_to_inertia(
mass=2 * 0.0137 * total_mass,
coef=(0.257, 0.245, 0.124),
start=m["ANKLE"],
Expand All @@ -103,80 +125,80 @@ def __init__(self, total_mass: float, sex: str):
),
},
"female": {
"HEAD": InertiaParameters(
"HEAD": bmc.InertiaParameters(
mass=lambda m, bio: 0.0669 * total_mass,
center_of_mass=lambda m, bio: point_on_vector(0.4841, start=m["TOP_HEAD"], end=m["SHOULDER"]),
inertia=lambda m, bio: InertiaParameters.radii_of_gyration_to_inertia(
inertia=lambda m, bio: bmc.InertiaParameters.radii_of_gyration_to_inertia(
mass=0.0669 * total_mass,
coef=(0.271, 0.295, 0.261),
start=m["TOP_HEAD"],
end=m["SHOULDER"],
),
),
"TRUNK": InertiaParameters(
"TRUNK": bmc.InertiaParameters(
mass=lambda m, bio: 0.4257 * total_mass,
center_of_mass=lambda m, bio: point_on_vector(0.4964, start=m["SHOULDER"], end=m["PELVIS"]),
inertia=lambda m, bio: InertiaParameters.radii_of_gyration_to_inertia(
inertia=lambda m, bio: bmc.InertiaParameters.radii_of_gyration_to_inertia(
mass=0.4257 * total_mass,
coef=(0.307, 0.292, 0.147),
start=m["SHOULDER"],
end=m["PELVIS"],
),
),
"UPPER_ARM": InertiaParameters(
"UPPER_ARM": bmc.InertiaParameters(
mass=lambda m, bio: 2 * 0.0255 * total_mass,
center_of_mass=lambda m, bio: point_on_vector(0.5754, start=m["SHOULDER"], end=m["ELBOW"]),
inertia=lambda m, bio: InertiaParameters.radii_of_gyration_to_inertia(
inertia=lambda m, bio: bmc.InertiaParameters.radii_of_gyration_to_inertia(
mass=2 * 0.0255 * total_mass,
coef=(0.278, 0.260, 0.148),
start=m["SHOULDER"],
end=m["ELBOW"],
),
),
"LOWER_ARM": InertiaParameters(
"LOWER_ARM": bmc.InertiaParameters(
mass=lambda m, bio: 2 * 0.0138 * total_mass,
center_of_mass=lambda m, bio: point_on_vector(0.4559, start=m["ELBOW"], end=m["WRIST"]),
inertia=lambda m, bio: InertiaParameters.radii_of_gyration_to_inertia(
inertia=lambda m, bio: bmc.InertiaParameters.radii_of_gyration_to_inertia(
mass=2 * 0.0138 * total_mass,
coef=(0.261, 0.257, 0.094),
start=m["ELBOW"],
end=m["WRIST"],
),
),
"HAND": InertiaParameters(
"HAND": bmc.InertiaParameters(
mass=lambda m, bio: 2 * 0.0056 * total_mass,
center_of_mass=lambda m, bio: point_on_vector(0.7474, start=m["WRIST"], end=m["FINGER"]),
inertia=lambda m, bio: InertiaParameters.radii_of_gyration_to_inertia(
inertia=lambda m, bio: bmc.InertiaParameters.radii_of_gyration_to_inertia(
mass=2 * 0.0056 * total_mass,
coef=(0.531, 0.454, 0.335),
start=m["WRIST"],
end=m["FINGER"],
),
),
"THIGH": InertiaParameters(
"THIGH": bmc.InertiaParameters(
mass=lambda m, bio: 2 * 0.1478 * total_mass,
center_of_mass=lambda m, bio: point_on_vector(0.3612, start=m["PELVIS"], end=m["KNEE"]),
inertia=lambda m, bio: InertiaParameters.radii_of_gyration_to_inertia(
inertia=lambda m, bio: bmc.InertiaParameters.radii_of_gyration_to_inertia(
mass=2 * 0.1478 * total_mass,
coef=(0.369, 0.364, 0.162),
start=m["PELVIS"],
end=m["KNEE"],
),
),
"SHANK": InertiaParameters(
"SHANK": bmc.InertiaParameters(
mass=lambda m, bio: 2 * 0.0481 * total_mass,
center_of_mass=lambda m, bio: point_on_vector(0.4416, start=m["KNEE"], end=m["ANKLE"]),
inertia=lambda m, bio: InertiaParameters.radii_of_gyration_to_inertia(
inertia=lambda m, bio: bmc.InertiaParameters.radii_of_gyration_to_inertia(
mass=2 * 0.0481 * total_mass,
coef=(0.271, 0.267, 0.093),
start=m["KNEE"],
end=m["ANKLE"],
),
),
"FOOT": InertiaParameters(
"FOOT": bmc.InertiaParameters(
mass=lambda m, bio: 2 * 0.0129 * total_mass,
center_of_mass=lambda m, bio: point_on_vector(0.4014, start=m["ANKLE"], end=m["TOE"]),
inertia=lambda m, bio: InertiaParameters.radii_of_gyration_to_inertia(
inertia=lambda m, bio: bmc.InertiaParameters.radii_of_gyration_to_inertia(
mass=2 * 0.0129 * total_mass,
coef=(0.299, 0.279, 0.124),
start=m["ANKLE"],
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2 changes: 1 addition & 1 deletion test/binding/python3/test_model_creation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -201,7 +201,7 @@ def test_model_creation_from_data(brbd, remove_temporary: bool = True):

# Fill the kinematic chain model
model = bmc.BiomechanicalModel()
de_leva = DeLevaTable(total_mass=100, sex="female")
de_leva = DeLevaTable(total_mass=100, sex="female", bmc=bmc)

model.segments["TRUNK"] = bmc.Segment(
name="TRUNK",
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