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Merged
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Aug 19, 2025
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Add Jupyter notebooks with OpenSim Python tutorials #4124

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9395f43
Add Jupyter notebooks with OpenSim Python tutorials
nickbianco Aug 5, 2025
5936996
Merge branch 'main' into python_examples
nickbianco Aug 7, 2025
45e77c2
Fix tutorial Google Colab links and file downloads
nickbianco Aug 18, 2025
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387 changes: 387 additions & 0 deletions Bindings/Python/tutorials/Tutorial 1 - Introduction to OpenSim.ipynb
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613 changes: 613 additions & 0 deletions Bindings/Python/tutorials/Tutorial 2 - Creating and Simulating a simple arm Model.ipynb
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484 changes: 484 additions & 0 deletions Bindings/Python/tutorials/Tutorial 3 - Loading and Modifying OpenSim Models.ipynb
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995 changes: 995 additions & 0 deletions ...thon/tutorials/Tutorial 4 - Musculoskeletal models, Motion Files and MuscleAnalysis.ipynb
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1,126 changes: 1,126 additions & 0 deletions ...ngs/Python/tutorials/Tutorial 5 - Scaling, Inverse Kinematics, and Inverse Dynamics.ipynb
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2,150 changes: 2,150 additions & 0 deletions Bindings/Python/tutorials/Tutorial 6 - Static Optimization.ipynb
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471 changes: 471 additions & 0 deletions Bindings/Python/tutorials/Tutorial 7 - Introduction to OpenSim Moco.ipynb
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1,003 changes: 1,003 additions & 0 deletions .../Python/tutorials/Tutorial 8 - Creating Muscle-driven Simulations with OpenSim Moco.ipynb
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275 changes: 275 additions & 0 deletions Bindings/Python/tutorials/resources/Tutorial 3/double_pendulum.osim
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<?xml version="1.0" encoding="UTF-8"?>
<OpenSimDocument Version="30501">
<Model name="double_pendulum">
<!--Acceleration due to gravity, expressed in ground.-->
<gravity>0 -9.80665 0</gravity>
<!--Credits (e.g., model author names) associated with the model.-->
<credits>Ajay Seth</credits>
<!--Publications and references associated with the model.-->
<publications>For testing</publications>
<!--Units for all lengths.-->
<length_units>meters</length_units>
<!--Units for all forces.-->
<force_units>N</force_units>
<!--List of bodies that make up this model.-->
<BodySet>
<objects>
<Body name="rod1">
<!--The mass of the body (kg)-->
<mass>1</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>0 0.2 0</mass_center>
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
<inertia>0 0 0 0 0 0</inertia>
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.-->
<WrapObjectSet>
<objects />
<groups />
</WrapObjectSet>
<!--For visualization in the Simbody visualizer or OpenSim GUI.-->
<VisibleObject>
<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
<GeometrySet>
<objects>
<DisplayGeometry>
<!--Name of geometry file .vtp, .stl, .obj-->
<geometry_file>cylinder.vtp</geometry_file>
<!--Color used to display the geometry when visible-->
<color> 1 1 1</color>
<!--Name of texture file .jpg, .bmp-->
<texture_file />
<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
<transform> 0 0 0 0 0.25 0</transform>
<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
<scale_factors> 0.02 0.5 0.02</scale_factors>
<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
<display_preference>4</display_preference>
<!--Display opacity between 0.0 and 1.0-->
<opacity>1</opacity>
</DisplayGeometry>
<DisplayGeometry>
<!--Name of geometry file .vtp, .stl, .obj-->
<geometry_file>sphere.vtp</geometry_file>
<!--Color used to display the geometry when visible-->
<color> 1 1 1</color>
<!--Name of texture file .jpg, .bmp-->
<texture_file />
<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
<transform> 0 0 0 0 0 0</transform>
<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
<scale_factors> 0.1 0.1 0.1</scale_factors>
<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
<display_preference>4</display_preference>
<!--Display opacity between 0.0 and 1.0-->
<opacity>1</opacity>
</DisplayGeometry>
</objects>
<groups />
</GeometrySet>
<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
<scale_factors> 1 1 1</scale_factors>
<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
<transform> 0 0 0 0 0 0</transform>
<!--Whether to show a coordinate frame-->
<show_axes>true</show_axes>
<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
<display_preference>4</display_preference>
</VisibleObject>
</Body>
<Body name="rod2">
<!--The mass of the body (kg)-->
<mass>1</mass>
<!--The location (Vec3) of the mass center in the body frame.-->
<mass_center>0 0 0</mass_center>
<!--The elements of the inertia tensor (Vec6) as [Ixx Iyy Izz Ixy Ixz Iyz] measured about the mass_center and not the body origin.-->
<inertia>0 0 0 0 0 0</inertia>
<!--Set of wrap objects fixed to this body that GeometryPaths can wrap over.-->
<WrapObjectSet>
<objects />
<groups />
</WrapObjectSet>
<!--For visualization in the Simbody visualizer or OpenSim GUI.-->
<VisibleObject>
<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
<GeometrySet>
<objects>
<DisplayGeometry>
<!--Name of geometry file .vtp, .stl, .obj-->
<geometry_file>cylinder.vtp</geometry_file>
<!--Color used to display the geometry when visible-->
<color> 1 1 1</color>
<!--Name of texture file .jpg, .bmp-->
<texture_file />
<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
<transform> 0 0 0 0 0.25 0</transform>
<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
<scale_factors> 0.02 0.5 0.02</scale_factors>
<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
<display_preference>4</display_preference>
<!--Display opacity between 0.0 and 1.0-->
<opacity>1</opacity>
</DisplayGeometry>
<DisplayGeometry>
<!--Name of geometry file .vtp, .stl, .obj-->
<geometry_file>sphere.vtp</geometry_file>
<!--Color used to display the geometry when visible-->
<color> 1 1 1</color>
<!--Name of texture file .jpg, .bmp-->
<texture_file />
<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
<transform> 0 0 0 0 0 0</transform>
<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
<scale_factors> 0.1 0.1 0.1</scale_factors>
<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
<display_preference>4</display_preference>
<!--Display opacity between 0.0 and 1.0-->
<opacity>1</opacity>
</DisplayGeometry>
</objects>
<groups />
</GeometrySet>
<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
<scale_factors> 1 1 1</scale_factors>
<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
<transform> 0 0 0 0 0 0</transform>
<!--Whether to show a coordinate frame-->
<show_axes>true</show_axes>
<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
<display_preference>4</display_preference>
</VisibleObject>
</Body>
</objects>
<groups />
</BodySet>
<!--List of Frames that various objects can be anchored to or expressed in, Body frames are builtin and not included in this list.-->
<FrameSet>
<objects>
</objects>
<groups />
</FrameSet>
<!--List of joints that connect the bodies.-->
<JointSet>
<objects>
<PinJoint name="pin1">
<!--List of connectors (structural dependencies) that this component has.-->
<connectors>
<Connector_PhysicalFrame_ name="parent_body">
<!--Name of the component this Connector should be connected to.-->
<connectee_name>../ground</connectee_name>
</Connector_PhysicalFrame_>
<Connector_PhysicalFrame_ name="child_body">
<!--Name of the component this Connector should be connected to.-->
<connectee_name>../rod1</connectee_name>
</Connector_PhysicalFrame_>
</connectors>
<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
<location_in_parent>0 0 0</location_in_parent>
<!--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).-->
<orientation_in_parent>0 0 0</orientation_in_parent>
<!--Location of the joint in the child body specified in the child reference frame. Default is (0,0,0).-->
<location_in_child>0 0.5 0</location_in_child>
<!--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)-->
<orientation_in_child>0 0 0</orientation_in_child>
<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
<CoordinateSet>
<objects>
<Coordinate name="q1">
<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
<motion_type>rotational</motion_type>
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
<default_value>-0.78539816</default_value>
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
<default_speed_value>0</default_speed_value>
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
<range>-1.57079633 1.57079633</range>
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
<clamped>false</clamped>
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
<locked>false</locked>
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
<prescribed_function />
<!--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.-->
<prescribed>false</prescribed>
</Coordinate>
</objects>
<groups />
</CoordinateSet>
<!--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.-->
<reverse>false</reverse>
</PinJoint>
<PinJoint name="pin2">
<!--List of connectors (structural dependencies) that this component has.-->
<connectors>
<Connector_PhysicalFrame_ name="parent_body">
<!--Name of the component this Connector should be connected to.-->
<connectee_name>rod1</connectee_name>
</Connector_PhysicalFrame_>
<Connector_PhysicalFrame_ name="child_body">
<!--Name of the component this Connector should be connected to.-->
<connectee_name>rod2</connectee_name>
</Connector_PhysicalFrame_>
</connectors>
<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
<location_in_parent>0 0 0</location_in_parent>
<!--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).-->
<orientation_in_parent>0 0 0</orientation_in_parent>
<!--Location of the joint in the child body specified in the child reference frame. Default is (0,0,0).-->
<location_in_child>0 0.5 0</location_in_child>
<!--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)-->
<orientation_in_child>0 0 0</orientation_in_child>
<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
<CoordinateSet>
<objects>
<Coordinate name="q2">
<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
<motion_type>rotational</motion_type>
<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
<default_value>-1.04719755</default_value>
<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
<default_speed_value>0</default_speed_value>
<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
<range>-1.57079633 1.57079633</range>
<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
<clamped>false</clamped>
<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
<locked>false</locked>
<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
<prescribed_function />
<!--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.-->
<prescribed>false</prescribed>
</Coordinate>
</objects>
<groups />
</CoordinateSet>
<!--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.-->
<reverse>false</reverse>
</PinJoint>
</objects>
</JointSet>
<!--Controllers that provide the control inputs for Actuators.-->
<ControllerSet>
<objects />
<groups />
</ControllerSet>
<!--Constraints in the model.-->
<ConstraintSet>
<objects />
<groups />
</ConstraintSet>
<!--Forces in the model (includes Actuators).-->
<ForceSet>
<objects />
<groups />
</ForceSet>
<!--Markers in the model.-->
<MarkerSet>
<objects />
<groups />
</MarkerSet>
<!--Geometry to be used in contact forces.-->
<ContactGeometrySet>
<objects />
<groups />
</ContactGeometrySet>
</Model>
</OpenSimDocument>
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