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Add Jupyter notebooks with OpenSim Python tutorials
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‎Bindings/Python/tutorials/Tutorial 1 - Introduction to OpenSim.ipynb

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‎Bindings/Python/tutorials/Tutorial 2 - Creating and Simulating a simple arm Model.ipynb

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‎Bindings/Python/tutorials/Tutorial 3 - Loading and Modifying OpenSim Models.ipynb

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‎Bindings/Python/tutorials/Tutorial 4 - Musculoskeletal models, Motion Files and MuscleAnalysis.ipynb

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‎Bindings/Python/tutorials/Tutorial 5 - Scaling, Inverse Kinematics, and Inverse Dynamics.ipynb

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‎Bindings/Python/tutorials/Tutorial 6 - Static Optimization.ipynb

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‎Bindings/Python/tutorials/Tutorial 7 - Introduction to OpenSim Moco.ipynb

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‎Bindings/Python/tutorials/Tutorial 8 - Creating Muscle-driven Simulations with OpenSim Moco.ipynb

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‎Bindings/Python/tutorials/resources/Tutorial 3/double_pendulum.osim

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<?xml version="1.0" encoding="UTF-8"?>
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<OpenSimDocument Version="30501">
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<Model name="double_pendulum">
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<!--Acceleration due to gravity, expressed in ground.-->
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<gravity>0 -9.80665 0</gravity>
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<!--Credits (e.g., model author names) associated with the model.-->
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<credits>Ajay Seth</credits>
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<!--Publications and references associated with the model.-->
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<publications>For testing</publications>
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<!--Units for all lengths.-->
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<length_units>meters</length_units>
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<!--Units for all forces.-->
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<force_units>N</force_units>
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<!--List of bodies that make up this model.-->
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<BodySet>
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<objects>
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<Body name="rod1">
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<!--The mass of the body (kg)-->
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<mass>1</mass>
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<!--The location (Vec3) of the mass center in the body frame.-->
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<mass_center>0 0.2 0</mass_center>
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<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
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<inertia>0 0 0 0 0 0</inertia>
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<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.-->
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<WrapObjectSet>
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<objects />
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<groups />
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</WrapObjectSet>
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<!--For visualization in the Simbody visualizer or OpenSim GUI.-->
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<VisibleObject>
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<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
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<GeometrySet>
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<objects>
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<DisplayGeometry>
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<!--Name of geometry file .vtp, .stl, .obj-->
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<geometry_file>cylinder.vtp</geometry_file>
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<!--Color used to display the geometry when visible-->
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<color> 1 1 1</color>
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<!--Name of texture file .jpg, .bmp-->
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<texture_file />
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<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
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<transform> 0 0 0 0 0.25 0</transform>
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<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
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<scale_factors> 0.02 0.5 0.02</scale_factors>
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<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
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<display_preference>4</display_preference>
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<!--Display opacity between 0.0 and 1.0-->
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<opacity>1</opacity>
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</DisplayGeometry>
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<DisplayGeometry>
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<!--Name of geometry file .vtp, .stl, .obj-->
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<geometry_file>sphere.vtp</geometry_file>
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<!--Color used to display the geometry when visible-->
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<color> 1 1 1</color>
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<!--Name of texture file .jpg, .bmp-->
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<texture_file />
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<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
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<transform> 0 0 0 0 0 0</transform>
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<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
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<scale_factors> 0.1 0.1 0.1</scale_factors>
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<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
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<display_preference>4</display_preference>
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<!--Display opacity between 0.0 and 1.0-->
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<opacity>1</opacity>
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</DisplayGeometry>
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</objects>
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<groups />
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</GeometrySet>
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<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
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<scale_factors> 1 1 1</scale_factors>
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<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
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<transform> 0 0 0 0 0 0</transform>
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<!--Whether to show a coordinate frame-->
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<show_axes>true</show_axes>
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<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
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<display_preference>4</display_preference>
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</VisibleObject>
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</Body>
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<Body name="rod2">
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<!--The mass of the body (kg)-->
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<mass>1</mass>
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<!--The location (Vec3) of the mass center in the body frame.-->
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<mass_center>0 0 0</mass_center>
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<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
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<inertia>0 0 0 0 0 0</inertia>
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<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.-->
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<WrapObjectSet>
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<objects />
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<groups />
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</WrapObjectSet>
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<!--For visualization in the Simbody visualizer or OpenSim GUI.-->
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<VisibleObject>
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<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
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<GeometrySet>
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<objects>
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<DisplayGeometry>
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<!--Name of geometry file .vtp, .stl, .obj-->
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<geometry_file>cylinder.vtp</geometry_file>
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<!--Color used to display the geometry when visible-->
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<color> 1 1 1</color>
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<!--Name of texture file .jpg, .bmp-->
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<texture_file />
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<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
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<transform> 0 0 0 0 0.25 0</transform>
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<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
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<scale_factors> 0.02 0.5 0.02</scale_factors>
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<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
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<display_preference>4</display_preference>
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<!--Display opacity between 0.0 and 1.0-->
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<opacity>1</opacity>
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</DisplayGeometry>
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<DisplayGeometry>
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<!--Name of geometry file .vtp, .stl, .obj-->
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<geometry_file>sphere.vtp</geometry_file>
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<!--Color used to display the geometry when visible-->
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<color> 1 1 1</color>
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<!--Name of texture file .jpg, .bmp-->
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<texture_file />
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<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
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<transform> 0 0 0 0 0 0</transform>
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<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
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<scale_factors> 0.1 0.1 0.1</scale_factors>
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<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
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<display_preference>4</display_preference>
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<!--Display opacity between 0.0 and 1.0-->
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<opacity>1</opacity>
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</DisplayGeometry>
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</objects>
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<groups />
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</GeometrySet>
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<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
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<scale_factors> 1 1 1</scale_factors>
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<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
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<transform> 0 0 0 0 0 0</transform>
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<!--Whether to show a coordinate frame-->
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<show_axes>true</show_axes>
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<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
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<display_preference>4</display_preference>
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</VisibleObject>
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</Body>
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</objects>
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<groups />
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</BodySet>
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<!--List of Frames that various objects can be anchored to or expressed in, Body frames are builtin and not included in this list.-->
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<FrameSet>
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<objects>
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</objects>
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<groups />
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</FrameSet>
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<!--List of joints that connect the bodies.-->
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<JointSet>
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<objects>
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<PinJoint name="pin1">
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<!--List of connectors (structural dependencies) that this component has.-->
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<connectors>
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<Connector_PhysicalFrame_ name="parent_body">
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<!--Name of the component this Connector should be connected to.-->
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<connectee_name>../ground</connectee_name>
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</Connector_PhysicalFrame_>
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<Connector_PhysicalFrame_ name="child_body">
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<!--Name of the component this Connector should be connected to.-->
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<connectee_name>../rod1</connectee_name>
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</Connector_PhysicalFrame_>
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</connectors>
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<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
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<location_in_parent>0 0 0</location_in_parent>
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<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles (in radians) are used to express the orientation. Default is (0,0,0).-->
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<orientation_in_parent>0 0 0</orientation_in_parent>
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<!--Location of the joint in the child body specified in the child reference frame. Default is (0,0,0).-->
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<location_in_child>0 0.5 0</location_in_child>
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<!--Orientation of the joint in the child body specified in the child body reference frame. Euler XYZ body-fixed rotation angles (in radians) are used to express the orientation. Default is (0,0,0)-->
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<orientation_in_child>0 0 0</orientation_in_child>
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<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
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<CoordinateSet>
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<objects>
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<Coordinate name="q1">
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<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
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<motion_type>rotational</motion_type>
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<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
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<default_value>-0.78539816</default_value>
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<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
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<default_speed_value>0</default_speed_value>
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<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
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<range>-1.57079633 1.57079633</range>
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<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
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<clamped>false</clamped>
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<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
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<locked>false</locked>
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<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
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<prescribed_function />
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<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
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<prescribed>false</prescribed>
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</Coordinate>
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</objects>
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<groups />
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</CoordinateSet>
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<!--Advanced option. Specify the direction of the joint in the multibody tree: parent->child (forward, reverse == false) or child->parent (reverse == true) NOTE: the Joint transform and its coordinates maintain a parent->child sense, even if the Joint is reversed.-->
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<reverse>false</reverse>
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</PinJoint>
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<PinJoint name="pin2">
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<!--List of connectors (structural dependencies) that this component has.-->
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<connectors>
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<Connector_PhysicalFrame_ name="parent_body">
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<!--Name of the component this Connector should be connected to.-->
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<connectee_name>rod1</connectee_name>
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</Connector_PhysicalFrame_>
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<Connector_PhysicalFrame_ name="child_body">
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<!--Name of the component this Connector should be connected to.-->
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<connectee_name>rod2</connectee_name>
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</Connector_PhysicalFrame_>
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</connectors>
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<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
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<location_in_parent>0 0 0</location_in_parent>
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<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles (in radians) are used to express the orientation. Default is (0,0,0).-->
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<orientation_in_parent>0 0 0</orientation_in_parent>
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<!--Location of the joint in the child body specified in the child reference frame. Default is (0,0,0).-->
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<location_in_child>0 0.5 0</location_in_child>
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<!--Orientation of the joint in the child body specified in the child body reference frame. Euler XYZ body-fixed rotation angles (in radians) are used to express the orientation. Default is (0,0,0)-->
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<orientation_in_child>0 0 0</orientation_in_child>
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<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
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<CoordinateSet>
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<objects>
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<Coordinate name="q2">
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<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
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<motion_type>rotational</motion_type>
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<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
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<default_value>-1.04719755</default_value>
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<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
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<default_speed_value>0</default_speed_value>
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<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
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<range>-1.57079633 1.57079633</range>
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<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
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<clamped>false</clamped>
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<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
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<locked>false</locked>
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<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
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<prescribed_function />
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<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
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<prescribed>false</prescribed>
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</Coordinate>
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</objects>
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<groups />
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</CoordinateSet>
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<!--Advanced option. Specify the direction of the joint in the multibody tree: parent->child (forward, reverse == false) or child->parent (reverse == true) NOTE: the Joint transform and its coordinates maintain a parent->child sense, even if the Joint is reversed.-->
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<reverse>false</reverse>
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</PinJoint>
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</objects>
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</JointSet>
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<!--Controllers that provide the control inputs for Actuators.-->
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<ControllerSet>
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<objects />
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<groups />
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</ControllerSet>
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<!--Constraints in the model.-->
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<ConstraintSet>
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<objects />
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<groups />
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</ConstraintSet>
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<!--Forces in the model (includes Actuators).-->
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<ForceSet>
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<objects />
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<groups />
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</ForceSet>
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<!--Markers in the model.-->
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<MarkerSet>
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<objects />
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<groups />
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</MarkerSet>
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<!--Geometry to be used in contact forces.-->
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<ContactGeometrySet>
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<objects />
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<groups />
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</ContactGeometrySet>
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</Model>
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</OpenSimDocument>

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