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[RTM after push] muscle length #375

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Merged
pariterre merged 2 commits into from
Oct 14, 2025
Merged

[RTM after push] muscle length #375

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28dc5f0
muscle length interface
EveCharbie Oct 7, 2025
1648c3c
lengthS
EveCharbie Oct 14, 2025
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30 changes: 29 additions & 1 deletion binding/python3/wrapper/muscle.py
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Original file line number Diff line number Diff line change
Expand Up @@ -485,7 +485,7 @@ def joint_torque(
emg = self._model.internal.stateSet()
return to_biorbd_array_output(self._model.internal.muscularJointTorque(emg))

def length_jacobian(
def lengths_jacobian(
self,
q: BiorbdArray | None = None,
) -> list[BiorbdArray]:
Expand All @@ -498,3 +498,31 @@ def length_jacobian(
"""
self.update_geometry(q)
return [muscle.length_jacobian for muscle in self.data]

def lengths(
self,
q: BiorbdArray | None = None,
) -> list[BiorbdScalar]:
"""
Get the current length of all muscles at q (if provided, otherwise at the current pose).

Returns
-------
The current length of all muscles.
"""
self.update_geometry(q)
return [muscle.length for muscle in self.data]

def muscle_tendon_lengths(
self,
q: BiorbdArray | None = None,
) -> list[BiorbdScalar]:
"""
Get the current muscle-tendon unit length of all muscles at q (if provided, otherwise at the current pose).

Returns
-------
The current length of all muscles.
"""
self.update_geometry(q)
return [muscle.muscle_tendon_length for muscle in self.data]
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