Skip to content

[RTM?] Added more examples of using holonomic constraints #1022

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
Ipuch merged 17 commits into from
Jan 14, 2026
Merged

[RTM?] Added more examples of using holonomic constraints #1022

Show file tree
Hide file tree
Changes from 10 commits
Commits
Show all changes
17 commits
Select commit Hold shift + click to select a range
498700a
Merge remote-tracking branch 'origin/Fix_MultiModel_Viewer_Pyorerun' …
Sep 18, 2025
478e8af
Added more examples of using holonomic constraints
Sep 18, 2025
9da87e9
Merge branch 'master' into NewHolonomicExamples
Sep 25, 2025
fe232f1
Added a static_property to folder
pariterre Sep 25, 2025
efe61aa
Updated to follow new examples structure
Sep 25, 2025
164fd73
Added tests for all new examples
Sep 25, 2025
26c1f13
Cleaning
Sep 25, 2025
c788122
Fixed imports, don't understand test problems, will update later
Sep 25, 2025
316aa6e
Added more examples of using holonomic constraints
Sep 18, 2025
ef813aa
Merge branch 'master' into NewHolonomicExamples
Sep 26, 2025
8d6c1af
Merge branch 'master' into NewHolonomicExamples
Jan 8, 2026
d78cc25
removing empty annoying folder
Jan 8, 2026
2e1c0da
Fixed tests
Jan 8, 2026
cca3776
Added bug fix from pr 1021
Jan 14, 2026
cc890ae
Added test for collocation solver
Jan 14, 2026
c125cbf
numpy<2.4
Ipuch Jan 14, 2026
c93df1f
restoring external module biomechanical_models
Ipuch Jan 14, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
98 changes: 98 additions & 0 deletions bioptim/examples/models/3bar.bioMod
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,98 @@
version 4

segment Seg0
rotations x
ranges
-10*pi 10*pi
mass 0.25
inertia
0.00391 0.0000 0.0000
0.0000 0.0335 -0.0032
0.0000 -0.0032 0.0090
com -0.0005 0.0688 -0.9542
meshfile mesh/pendulum.STL
endsegment

// Marker 0
marker marker_0
parent Seg0
position 0 0 0
endmarker

// Marker 1
marker marker_1
parent Seg0
position 0 0 -1
endmarker

// Marker 2
marker CoM0
parent Seg0
position -0.0005 0.0688 -0.9542
endmarker

segment Seg1
translations yz
rotations x
ranges
-5 5
-5 5
-3*pi 3*pi
mass 0.25
inertia
0.00391 0.0000 0.0000
0.0000 0.0335 -0.0032
0.0000 -0.0032 0.0090
com -0.0005 0.0688 -0.9542
meshfile mesh/pendulum.STL
endsegment

// Marker 3
marker marker_3
parent Seg1
position 0 0 0
endmarker

// Marker 4
marker marker_4
parent Seg1
position 0 0 -1
endmarker

// Marker CoM1
marker CoM1
parent Seg1
position -0.0005 0.0688 -0.9542
endmarker

segment Seg2
RT 0 0 0 xyz 0 1 0
rotations x
ranges
-10*pi 10*pi
mass 0.25
inertia
0.00391 0.0000 0.0000
0.0000 0.0335 -0.0032
0.0000 -0.0032 0.0090
com -0.0005 0.0688 -0.9542
meshfile mesh/pendulum.STL
endsegment

// Marker 5
marker marker_5
parent Seg2
position 0 0 0
endmarker

// Marker 6
marker marker_6
parent Seg2
position 0 0 -1
endmarker

// Marker CoM3
marker CoM3
parent Seg2
position -0.0005 0.0688 -0.9542
endmarker
132 changes: 132 additions & 0 deletions bioptim/examples/models/4bar.bioMod
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,132 @@
version 4

segment Seg0
rotations x
ranges
-10*pi 10*pi
mass 0.25
inertia
0.00391 0.0000 0.0000
0.0000 0.0335 -0.0032
0.0000 -0.0032 0.0090
com -0.0005 0.0688 -0.9542
meshfile mesh/pendulum.STL
endsegment

// Marker 0
marker marker_0
parent Seg0
position 0 0 0
endmarker

// Marker 1
marker marker_1
parent Seg0
position 0 0 -1
endmarker

// Marker 2
marker CoM0
parent Seg0
position -0.0005 0.0688 -0.9542
endmarker

segment Seg1
translations yz
rotations x
ranges
-5 5
-5 5
-3*pi 3*pi
mass 0.25
inertia
0.00391 0.0000 0.0000
0.0000 0.0335 -0.0032
0.0000 -0.0032 0.0090
com -0.0005 0.0688 -0.9542
meshfile mesh/pendulum.STL
endsegment

// Marker 3
marker marker_3
parent Seg1
position 0 0 0
endmarker

// Marker 4
marker marker_4
parent Seg1
position 0 0 -1
endmarker

// Marker CoM1
marker CoM1
parent Seg1
position -0.0005 0.0688 -0.9542
endmarker

segment Seg2
RT 0 0 0 xyz 0 1 0
rotations x
ranges
-10*pi 10*pi
mass 0.25
inertia
0.00391 0.0000 0.0000
0.0000 0.0335 -0.0032
0.0000 -0.0032 0.0090
com -0.0005 0.0688 -0.9542
meshfile mesh/pendulum.STL
endsegment

// Marker 5
marker marker_5
parent Seg2
position 0 0 0
endmarker

// Marker 6
marker marker_6
parent Seg2
position 0 0 -1
endmarker

// Marker CoM3
marker CoM3
parent Seg2
position -0.0005 0.0688 -0.9542
endmarker

segment Seg3
translations yz
rotations x
ranges
-5 5
-5 5
-3*pi 3*pi
mass 0.25
inertia
0.00391 0.0000 0.0000
0.0000 0.0335 -0.0032
0.0000 -0.0032 0.0090
com -0.0005 0.0688 -0.9542
meshfile mesh/pendulum.STL
endsegment

// Marker 7
marker marker_7
parent Seg3
position 0 0 0
endmarker

// Marker 8
marker marker_8
parent Seg3
position 0 0 -1
endmarker

// Marker CoM4
marker CoM4
parent Seg3
position -0.0005 0.0688 -0.9542
endmarker
35 changes: 35 additions & 0 deletions bioptim/examples/models/pendulum_rotule.bioMod
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,35 @@
version 4

segment Seg0
rotations x y z
ranges
-10*pi 10*pi
-10*pi 10*pi
-10*pi 10*pi
mass 0.25
inertia
0.00391 0.0000 0.0000
0.0000 0.0335 -0.0032
0.0000 -0.0032 0.0090
com -0.0005 0.0688 -0.9542
meshfile mesh/pendulum.STL
endsegment

// Marker 0
marker marker_0
parent Seg0
position 0 0 0
endmarker

// Marker 1
marker marker_1
parent Seg0
position 0 0 -1
endmarker

// Marker 2
marker CoM0
parent Seg0
position -0.0005 0.0688 -0.9542
endmarker

77 changes: 77 additions & 0 deletions bioptim/examples/models/two_pendulums_2.bioMod
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,77 @@
version 4

segment Seg0
rotations x
ranges
-10*pi 10*pi
mass 0.25
inertia
0.00391 0.0000 0.0000
0.0000 0.0335 -0.0032
0.0000 -0.0032 0.0090
com -0.0005 0.0688 -0.9542
meshfile mesh/pendulum.STL
endsegment

// Marker 0
marker marker_0
parent Seg0
position 0 0 0
endmarker

// Marker 1
marker marker_1
parent Seg0
position 0 0 -1
endmarker

// Marker 2
marker CoM0
parent Seg0
position -0.0005 0.0688 -0.9542
endmarker

marker DownOffset
parent Seg0
position 0.5 0 -1
endmarker

segment Seg1
translations xyz
rotations y
ranges
-5 5
-5 5
-5 5
-3pi 3pi
mass 0.25
inertia
0.00391 0.0000 0.0000
0.0000 0.0335 -0.0032
0.0000 -0.0032 0.0090
com -0.0005 0.0688 -0.9542
meshfile mesh/pendulum.STL
endsegment

// Marker 3
marker marker_3
parent Seg1
position 0 0 0
endmarker

// Marker 4
marker marker_4
parent Seg1
position 0 0 -1
endmarker

// Marker 5
marker CoM1
parent Seg1
position -0.0005 0.0688 -0.9542
endmarker

marker MidTige
parent Seg1
position 0 0 -0.5
endmarker
Loading
Loading