Tools for analyzing muscle moment arms

[kbonnet001]

Some tools for analyzing muscle moment arms are provided.

Given a biorbd model, and in the absence of a wrapping (contouring) object, the sign of a muscle’s moment arm may vary depending on joint configuration. This sign change should not occur in a realistic model, so we aim to retain only the portions where the sign is consistent with the expected behavior.

This new class allows automatic selection of the most accurate range of motion (ROM) for each joint, based on the user-defined true sign of each muscle moment arm. Note that the sign of each moment arm must be provided manually by the user.
A figure is available to visualize the ROM of each joint: examples/data/Sign moment arm examples_data.html

(The sign of the muscle moment arm)

(The incorrect parts are shown in black)
Note that, for now, ghost segments are not ignored. As a result, visualization may be difficult to interpret in such cases.

The user can also provide a trajectory q(t). The class will then return only valid motion segments, i.e., when joints are within their correct range of motion.
A figure is also provided to visualize correct and incorrect portions of the movement: examples/data/Joint_states_and_ROM_limits.html

An example is available at the end of the file: examples/muscle_moment_arm_analyzer.py.
Do not hesitate to ask any questions if anything is unclear.

Some tests have been created in the file: "tests/test_muscle_moment_arm_analyzer.py"

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