WIP: Perception Neuron MoCap example

Application/MocapExamples/BVH_NeuronMoCap/BVHSettings.any

@@ -0,0 +1,25 @@
+Main.ModelSetup.BVHFileData = 
+{  
+    FileName = MOCAP_C3D_DATA_PATH +"/"+ Main.ModelSetup.TrialSpecificData.TrialFileName + ".bvh"; //add the extension to the file name here
+
+    ModelDrawOnOff = On;
+    ModelDrawScale =0.15;
+    ModelDrawRGBs={{212,49,117}/256,{0.2,0.1,0.3},{49,171,212}/256};
+
+
+     // Positions in BVH file are in centi meters
+     TranslationScale = 0.01;
+     // Angles are in degrees.
+     RotationScale = pi/180.0;
+
+
+    InitialPos_FrameNo=Main.ModelSetup.TrialSpecificData.FirstFrame;
+
+    Rotation2PiFixOnOff = On;
+    Rotation1PiFixOnOff = Off;    
+
+    InterPolType = PiecewiseLinear ; 
+
+};
+
+

Application/MocapExamples/BVH_NeuronMoCap/BodyModelConfig.any

@@ -0,0 +1,22 @@
+#path __BM_PLUGIN_FILE__ "BodyModelConfig.any"
+#define BM_CONFIG_PLUGIN __BM_PLUGIN_FILE__
+// ----------------------------------------------------------
+// Model configuration:
+// For more info on body model configuration options please load the model and double click on: 
+// #path HTML_DOC "<AMMR_PATH_DOC>/bm_config/index.html"
+// ----------------------------------------------------------
+Main = {
+
+  #define BM_LEG_MODEL _LEG_MODEL_TLEM2_
+  #define BM_TRUNK_CERVICAL_MUSCLES OFF
+  #define BM_SCALING _SCALING_XYZ_
+  #define BM_MANNEQUIN_DRIVER_DEFAULT OFF
+
+  #define BM_TRUNK_MUSCLES OFF
+  #define BM_ARM_RIGHT ON
+  #define BM_ARM_LEFT ON
+  #define BM_ARM_MUSCLES_RIGHT OFF
+  #define BM_ARM_MUSCLES_LEFT OFF
+
+
+};

Application/MocapExamples/BVH_NeuronMoCap/C3DSettings.any

@@ -0,0 +1,51 @@
+//AnyInputC3D
+Main.ModelSetup.C3DFileData = {
+
+   FileName = MOCAP_C3D_DATA_PATH +"/"+ Main.ModelSetup.TrialSpecificData.TrialFileName + ".c3d"; //add the extension to the file name here
+
+   // Search/replace in marker names. 
+   // This option can be used to remove 
+   // prefixes from marker name, or replace
+   // characters from which are illegal in AnyScript
+   SearchAndReplace = {
+     /*{"old", "new"},*/ 
+       {"WeirdMarkerPrefix", ""}
+   };
+
+   ConstructModelOnOff = Off;
+   ConstructChartOnOff = Off;
+
+   MarkerUseAllPointsOnOff = On; 
+   MarkerUseCamMaskOnOff = Off;
+   PointsScaleFactor = 1/1000;
+   MarkerDrawOnOff = On;
+
+   AnyInt MarkerFilterOrder = 1; 
+   AnyInt AnalogFilterOrder = 1;
+
+   MarkerFilterIndex = 0;
+   AnalogFilterIndex = 1;    
+
+   MarkerBsplineOrder = 4;
+
+   Filter =  {
+     N = .MarkerFilterOrder;
+     Fc = {5};
+     Type = LowPass;
+   };
+
+   /// This filter is used for the analog data
+   AnyFunButterworthFilter LowPassFilter = {
+     AutomaticInitialConditionOnOff = On;
+     N = .AnalogFilterOrder  ;
+     AnyVar CutOffFrequency=12;
+     AnyVar SampleFreq=.Header.VideoFrameRate* .Header.NoAnalogSamplesPer3DFrame   ;
+     W = {CutOffFrequency/(iffun(eqfun(SampleFreq,0),100.0,SampleFreq)*0.5)};
+     Type = LowPass;
+   };
+
+   MarkerScaleXYZ = 0.015*{1,1,1};
+   MarkerRGB={0,0,1};    
+
+
+};

Application/MocapExamples/BVH_NeuronMoCap/CalculateSegmentScaleFactorsFromBVH.any

@@ -0,0 +1,160 @@
+
+#define BVH_MODEL Main.ModelSetup.BVHFileData.Model
+
+//Main.HumanModel.Anthropometrics.SegmentScaleFactors ={
+//  AnyFolder& StdPar = Main.HumanModel.Scaling.StandardParameters;
+//  Pelvis =   {
+//    AnyVar bvh_pelvis_width = vnorm(BVH_MODEL.Hips.Seg.RightUpLeg.sRel-
+//    BVH_MODEL.Hips.Seg.LeftUpLeg.sRel); ///< distance between hip joints
+//    
+//    WidthScale = bvh_pelvis_width/0.1631771;  // This distance is the distance of the hip joint center of a model with height 1.724318181818. This is the height of the person for a standard pelvis width (0.1686071)//.StdPar.Pelvis.Width;
+//    DepthScale = WidthScale;
+//    LengthScale = WidthScale;
+//  };
+//  
+//  Thorax =  {
+//    AnyVar bvh_trunk_height = 
+//    vnorm(   Main.ModelSetup.BVHFileData.Model.Hips.Seg.Spine.sRel) +
+//    vnorm(    Main.ModelSetup.BVHFileData.Model.Hips.Spine.Seg.Spine1.sRel) +
+//    vnorm(    Main.ModelSetup.BVHFileData.Model.Hips.Spine.Spine1.Seg.Spine2.sRel) +
+//    vnorm(    Main.ModelSetup.BVHFileData.Model.Hips.Spine.Spine1.Spine2.Seg.Spine3.sRel)+
+//    vnorm(    Main.ModelSetup.BVHFileData.Model.Hips.Spine.Spine1.Spine2.Spine3.Seg.Neck.sRel);
+//    
+//    AnyVar bvh_shoulder_width = 
+//    vnorm( Main.ModelSetup.BVHFileData.Model.Hips.Spine.Spine1.Spine2.Spine3.Seg.RightShoulder.sRel-
+//    Main.ModelSetup.BVHFileData.Model.Hips.Spine.Spine1.Spine2.Spine3.Seg.LeftShoulder.sRel)+
+//    vnorm( Main.ModelSetup.BVHFileData.Model.Hips.Spine.Spine1.Spine2.Spine3.LeftShoulder.Seg.LeftArm.sRel)+
+//    vnorm( Main.ModelSetup.BVHFileData.Model.Hips.Spine.Spine1.Spine2.Spine3.RightShoulder.Seg.RightArm.sRel);
+//    
+//    LengthScale = bvh_trunk_height/0.571014; // Distance for subject with height 1.8 .StdPar.Trunk.Height;
+//    WidthScale = bvh_shoulder_width /0.3715324; // Distance for subject with height 1.8
+//    DepthScale = WidthScale;
+//  };
+//  
+//  Lumbar =   {
+//    LengthScale = .Thorax.LengthScale;
+//    WidthScale = .Thorax.WidthScale;
+//    DepthScale = .Thorax.DepthScale;
+//  };
+//  
+//  Head =   {
+//    AnyVar bvh_head_height = vnorm(Main.ModelSetup.BVHFileData.Model.Hips.Spine.Spine1.Spine2.Spine3.Neck.Head.Seg.End_Site.sRel);
+//    LengthScale = bvh_head_height /0.20197; // Distance for subject with height 1.8 .StdPar.Head.Height;
+//    WidthScale = LengthScale;
+//    DepthScale = LengthScale;
+//  };
+//  Right.Clavicula =    {
+//    LengthScale = ..Thorax.WidthScale;
+//    DepthScale = LengthScale;
+//    WidthScale = LengthScale;
+//  };
+//  Left.Clavicula =    {
+//    LengthScale = ..Thorax.WidthScale;
+//    DepthScale = LengthScale;
+//    WidthScale = LengthScale;
+//  };   
+//  Right.Scapula =    {
+//    LengthScale = ..Thorax.WidthScale;
+//    DepthScale = LengthScale;
+//    WidthScale = LengthScale;
+//  };
+//  Left.Scapula =    {
+//    LengthScale = ..Thorax.WidthScale;
+//    DepthScale = LengthScale;
+//    WidthScale = LengthScale;
+//  };      
+//  Right.Humerus =   {
+//    AnyVar bvh_upperarm_length = vnorm(Main.ModelSetup.BVHFileData.Model.Hips.Spine.Spine1.Spine2.Spine3.RightShoulder.RightArm.Seg.RightForeArm.sRel);
+//    LengthScale = bvh_upperarm_length/0.335480637; //Distance for subject with height 1.8; //..StdPar.Humerus.Length;
+//    DepthScale = LengthScale;
+//    WidthScale = LengthScale;
+//  };
+//  Left.Humerus =  {
+//    AnyVar bvh_upperarm_length = vnorm(Main.ModelSetup.BVHFileData.Model.Hips.Spine.Spine1.Spine2.Spine3.LeftShoulder.LeftArm.Seg.LeftForeArm.sRel);
+//    LengthScale = bvh_upperarm_length/0.335480637; //Distance for subject with height 1.8 ..StdPar.Humerus.Length;
+//    DepthScale = LengthScale;
+//    WidthScale = LengthScale;
+//  };
+//  Right.Ulna =   {
+//   AnyVar bvh_lowerarm_length =   vnorm(Main.ModelSetup.BVHFileData.Model.Hips.Spine.Spine1.Spine2.Spine3.RightShoulder.RightArm.RightForeArm.Seg.RightHand.sRel);
+//    LengthScale = bvh_lowerarm_length/0.271635; // Distance for subject with height 1.8//..StdPar.Ulna.Length;
+//    DepthScale = LengthScale;
+//    WidthScale = LengthScale;
+//  };
+//  Left.Ulna =  {
+//    AnyVar bvh_lowerarm_length =  vnorm(Main.ModelSetup.BVHFileData.Model.Hips.Spine.Spine1.Spine2.Spine3.LeftShoulder.LeftArm.LeftForeArm.Seg.LeftHand.sRel);
+//    LengthScale = bvh_lowerarm_length/0.271635; //Distance for subject with height 1.8 ..StdPar.Ulna.Length;
+//    DepthScale = LengthScale;
+//    WidthScale = LengthScale;
+//  }; 
+//  Right.Radius =   {
+//    LengthScale = .Ulna.LengthScale;
+//    DepthScale = .Ulna.DepthScale;
+//    WidthScale = .Ulna.WidthScale;
+//  };
+//  Left.Radius =   {
+//    LengthScale = .Ulna.LengthScale;
+//    DepthScale = .Ulna.DepthScale;
+//    WidthScale = .Ulna.WidthScale;
+//  };   
+//  Right.Hand =   {
+//    AnyVar bvh_hand_length =  vnorm(Main.ModelSetup.BVHFileData.Model.Hips.Spine.Spine1.Spine2.Spine3.LeftShoulder.LeftArm.LeftForeArm.LeftHand.Seg.LeftInHandMiddle.sRel)
+//    +vnorm(Main.ModelSetup.BVHFileData.Model.Hips.Spine.Spine1.Spine2.Spine3.LeftShoulder.LeftArm.LeftForeArm.LeftHand.LeftInHandMiddle.Seg.LeftHandMiddle1.sRel)
+//    +vnorm(Main.ModelSetup.BVHFileData.Model.Hips.Spine.Spine1.Spine2.Spine3.LeftShoulder.LeftArm.LeftForeArm.LeftHand.LeftInHandMiddle.LeftHandMiddle1.Seg.LeftHandMiddle2.sRel)
+//    +vnorm(Main.ModelSetup.BVHFileData.Model.Hips.Spine.Spine1.Spine2.Spine3.LeftShoulder.LeftArm.LeftForeArm.LeftHand.LeftInHandMiddle.LeftHandMiddle1.LeftHandMiddle2.Seg.LeftHandMiddle3.sRel)
+//    +vnorm(Main.ModelSetup.BVHFileData.Model.Hips.Spine.Spine1.Spine2.Spine3.LeftShoulder.LeftArm.LeftForeArm.LeftHand.LeftInHandMiddle.LeftHandMiddle1.LeftHandMiddle2.LeftHandMiddle3.Seg.End_Site.sRel);
+//    LengthScale = bvh_hand_length/0.16536859;  // This is the standard hand length for a subject with height 1.72
+//    DepthScale = LengthScale;
+//    WidthScale = LengthScale;
+//  };
+//  Left.Hand =   {
+//    AnyVar bvh_hand_length =  vnorm(Main.ModelSetup.BVHFileData.Model.Hips.Spine.Spine1.Spine2.Spine3.LeftShoulder.LeftArm.LeftForeArm.LeftHand.Seg.LeftInHandMiddle.sRel)
+//    +vnorm(Main.ModelSetup.BVHFileData.Model.Hips.Spine.Spine1.Spine2.Spine3.LeftShoulder.LeftArm.LeftForeArm.LeftHand.LeftInHandMiddle.Seg.LeftHandMiddle1.sRel)
+//    +vnorm(Main.ModelSetup.BVHFileData.Model.Hips.Spine.Spine1.Spine2.Spine3.LeftShoulder.LeftArm.LeftForeArm.LeftHand.LeftInHandMiddle.LeftHandMiddle1.Seg.LeftHandMiddle2.sRel)
+//    +vnorm(Main.ModelSetup.BVHFileData.Model.Hips.Spine.Spine1.Spine2.Spine3.LeftShoulder.LeftArm.LeftForeArm.LeftHand.LeftInHandMiddle.LeftHandMiddle1.LeftHandMiddle2.Seg.LeftHandMiddle3.sRel)
+//    +vnorm(Main.ModelSetup.BVHFileData.Model.Hips.Spine.Spine1.Spine2.Spine3.LeftShoulder.LeftArm.LeftForeArm.LeftHand.LeftInHandMiddle.LeftHandMiddle1.LeftHandMiddle2.LeftHandMiddle3.Seg.End_Site.sRel);
+//    LengthScale = bvh_hand_length/0.16536859;
+//    DepthScale = LengthScale;
+//    WidthScale = LengthScale;
+//  };     
+//  Right.Thigh =  {
+//    AnyVar bvh_thigh_length= vnorm(Main.ModelSetup.BVHFileData.Model.Hips.RightUpLeg.Seg.RightLeg.sRel);
+//    LengthScale = bvh_thigh_length/0.36168; // Distance for subject with height 1.6163..StdPar.Right.Thigh.Length;
+//    DepthScale = 1;
+//    WidthScale = 1;
+//  };
+//  Left.Thigh =   {
+//    AnyVar bvh_thigh_length= vnorm(Main.ModelSetup.BVHFileData.Model.Hips.LeftUpLeg.Seg.LeftLeg.sRel);
+//    LengthScale = bvh_thigh_length/0.36168; // Distance for subject with height 1.6163..StdPar.Left.Thigh.Length;
+//    DepthScale = 1;
+//    WidthScale = 1;
+//  };  
+//  Right.Shank =   {
+//    AnyVar bvh_shank_length=vnorm(Main.ModelSetup.BVHFileData.Model.Hips.RightUpLeg.RightLeg.Seg.RightFoot.sRel);
+//    LengthScale = bvh_shank_length/0.36784; // Distance for subject with height 1.57298 ..StdPar.Right.Shank.Length;
+//    DepthScale = 1;
+//    WidthScale = 1;
+//  };
+//  Left.Shank =  {
+//    AnyVar bvh_shank_length=vnorm(Main.ModelSetup.BVHFileData.Model.Hips.LeftUpLeg.LeftLeg.Seg.LeftFoot.sRel);
+//    LengthScale = bvh_shank_length/0.36784; // Distance for subject with height 1.57298 ..StdPar.Left.Shank.Length;
+//    DepthScale = 1;
+//    WidthScale = 1;
+//  };   
+//  Right.Foot =   {
+//    AnyVar  bvh_foot_length =vnorm(Main.ModelSetup.BVHFileData.Model.Hips.RightUpLeg.RightLeg.RightFoot.Seg.End_Site.sRel[2]);
+//    AnyVar  bvh_foot_height =vnorm(Main.ModelSetup.BVHFileData.Model.Hips.RightUpLeg.RightLeg.RightFoot.Seg.End_Site.sRel[1]);
+//    LengthScale = bvh_foot_length/0.15954434; // ..StdPar.Right.Foot.Length;
+//    DepthScale = bvh_foot_height/0.07558622;
+//    WidthScale = DepthScale;
+//  };
+//  Left.Foot =   {
+//    AnyVar  bvh_foot_length =vnorm(Main.ModelSetup.BVHFileData.Model.Hips.LeftUpLeg.LeftLeg.LeftFoot.Seg.End_Site.sRel[2]);
+//    AnyVar  bvh_foot_height =vnorm(Main.ModelSetup.BVHFileData.Model.Hips.LeftUpLeg.LeftLeg.LeftFoot.Seg.End_Site.sRel[1]);
+//    LengthScale = bvh_foot_length/0.15954434; //..StdPar.Left.Foot.Length;
+//    DepthScale = bvh_foot_height/0.07558622;
+//    WidthScale = DepthScale;
+//  };     
+//};
+
+

Application/MocapExamples/BVH_NeuronMoCap/ExtraDrivers.any

@@ -0,0 +1,32 @@
+// This file contains a set of auxillary drivers. They are usefull/necessary
+// in some cases where the marker protocol doesn't provide enough information
+// to specify all degrees of freedom. Hence, these drivers complement a
+// specific driver protocol. Many of these drivers are soft, and an only serve
+// to stabalize the solver in postures where the markers doesn't provide unique
+// kinematic solution. 
+
+AnyFolder ExtraDrivers = {
+
+
+  // --------------------------------------------------------------------------
+  // The BM_MANNEQUIN drivers are used to support the degrees of freedom where
+  // the markers do not provide enough information. 
+  // See this file for options: #path HTML_DOC "<AMMR_PATH_DOC>/bm_config/index.html"
+  // --------------------------------------------------------------------------
+
+  #define BM_MANNEQUIN_DRIVER_WEAK_SWITCH ON
+
+  #define BM_MANNEQUIN_DRIVER_ANKLE_SUBTALAR_EVERSION_RIGHT ON
+  #define BM_MANNEQUIN_DRIVER_ANKLE_SUBTALAR_EVERSION_LEFT ON
+
+
+
+
+  #define BM_MANNEQUIN_DRIVER_NECK OFF
+
+
+
+  // This link to the mannequin drivers ensures they are picked up by the study.
+  AnyFolder& MannequinDrivers = Main.HumanModel.DefaultMannequinDrivers;
+
+};

Application/MocapExamples/BVH_NeuronMoCap/ForcePlates.any

@@ -0,0 +1,64 @@
+Main.EnvironmentModel.ForcePlates = 
+{
+
+  Main.EnvironmentModel.GlobalRef = 
+  { 
+    AnyRefNode FloorOffset = 
+    {
+       sRel = {0,0.04,0};
+    };
+
+  };
+
+
+
+  //-------- Predictive forceplate for the right leg
+  // See: #include "<ANYBODY_PATH_AMMR>/Tools/GRFPrediction/FootPlateConditionalContact.any" 
+  FootPlateConditionalContact GRF_Prediction_Right(
+  NORMAL_DIRECTION = "Y",
+  NUMBER_OF_NODES = 25,
+  NODES_FOLDER = FootNodes,
+  PLATE_BASE_FRAME = Main.EnvironmentModel.GlobalRef.FloorOffset,
+  SHOW_TRIGGER_VOLUME = ON
+  ) =
+  {
+    CreateFootContactNodes25 FootNodes(foot_ref = 
+    Main.HumanModel.BodyModel.Right.Leg.Seg.Foot) = {};
+
+    // Additional force plate settings
+    Settings = 
+    {
+      LimitDistHigh = 0.025; // Vertical height
+      FrictionCoefficient = 0.8;
+    };
+  };
+
+
+
+
+
+
+  //-------- Predictive forceplate for the left leg 
+  // See: #include "<ANYBODY_PATH_AMMR>/Tools/GRFPrediction/FootPlateConditionalContact.any" 
+  FootPlateConditionalContact GRF_Prediction_Left(
+  NORMAL_DIRECTION = "Y",
+  NUMBER_OF_NODES = 25,
+  NODES_FOLDER = FootNodes,
+  PLATE_BASE_FRAME = Main.EnvironmentModel.GlobalRef.FloorOffset,
+  SHOW_TRIGGER_VOLUME = ON
+  ) =
+  {
+    CreateFootContactNodes25 FootNodes(foot_ref = 
+    Main.HumanModel.BodyModel.Left.Leg.Seg.Foot) = {};
+
+    Settings = 
+    {
+      LimitDistHigh = 0.025;
+      FrictionCoefficient = 0.8;
+    };
+  };
+
+
+
+};
+

Application/MocapExamples/BVH_NeuronMoCap/LabSpecificData.any

@@ -0,0 +1,27 @@
+Main.ModelSetup.LabSpecificData = {
+
+ // Switch to enable Inertial MoCap functionality
+ #define MOCAP_INPUT_DATA_TYPE "BVH" 
+ #path MOCAP_BVHSETTINGS "BVHSettings.any"
+
+ #define MOCAP_C3D_DATA_PATH "BVH-files"
+
+
+ #path BODY_MODEL_CONFIG_FILE "BodyModelConfig.any"
+
+ #path MOCAP_MARKER_PROTOCOL_FILE "MarkerProtocol.any"
+ #path MOCAP_EXTRA_DRIVERS_FILE "ExtraDrivers.any"
+
+ #define MOCAP_USE_GRF_PREDICTION ON
+ #path MOCAP_FORCE_PLATE_FILE "ForcePlates.any"
+
+ Gravity = -9.81*{0,1,0};
+
+
+ LowPassFilterSettings = 
+ {
+    MarkerFilterCutOffFrequency = 4; 
+ };
+
+
+};