Merge pull request #910 from p-shg/muscle_driven_with_friction

[WIP] Added with_friction support for muscle driven dynamics. Ported funtionalities from torque driven dynamics (#910)

Co-Authored-By: p-shg <[email protected]>

bioptim/dynamics/configure_problem.py

@@ -709,6 +709,7 @@ def muscle_driven(
         with_contact: bool = False,
         with_passive_torque: bool = False,
         with_ligament: bool = False,
+        with_friction: bool = False,
         numerical_data_timeseries: dict[str, np.ndarray] = None,
     ):
         """
@@ -736,6 +737,8 @@ def muscle_driven(
             If the dynamic with passive torque should be used
         with_ligament: bool
             If the dynamic with ligament should be used
+        with_friction: bool
+            If the dynamic with joint friction should be used (friction = coefficients * qdot)
         numerical_data_timeseries: dict[str, np.ndarray]
             A list of values to pass to the dynamics at each node. Experimental external forces should be included here.
         """
@@ -764,6 +767,7 @@ def muscle_driven(
                 with_residual_torque=with_residual_torque,
                 with_passive_torque=with_passive_torque,
                 with_ligament=with_ligament,
+                with_friction=with_friction,
             )
 
         if with_contact:

bioptim/dynamics/dynamics_functions.py

@@ -699,6 +699,7 @@ def muscles_driven(
         with_contact: bool,
         with_passive_torque: bool = False,
         with_ligament: bool = False,
+        with_friction: bool = False,
         with_residual_torque: bool = False,
         fatigue=None,
     ) -> DynamicsEvaluation:
@@ -727,6 +728,8 @@ def muscles_driven(
             If the dynamic with passive torque should be used
         with_ligament: bool
             If the dynamic with ligament should be used
+        with_friction: bool
+            If the dynamic with friction should be used
         fatigue: FatigueDynamicsList
             To define fatigue elements
         with_residual_torque: bool
@@ -781,6 +784,7 @@ def muscles_driven(
         tau = muscles_tau + residual_tau if residual_tau is not None else muscles_tau
         tau = tau + nlp.model.passive_joint_torque()(q, qdot, nlp.parameters.cx) if with_passive_torque else tau
         tau = tau + nlp.model.ligament_joint_torque()(q, qdot, nlp.parameters.cx) if with_ligament else tau
+        tau = tau - nlp.model.friction_coefficients @ qdot if with_friction else tau
 
         dq = DynamicsFunctions.compute_qdot(nlp, q, qdot)