Getting Started with PhysioOpenSim

Overview

PhysioOpenSim provides an R interface to OpenSim for biomechanics simulation and analysis. The package supports two execution backends:

Native – OpenSim C++ libraries linked at compile time (fastest)
CLI – OpenSim command-line tool invoked as an external process (most portable)

Both backends are accessed through the same high-level R functions, so user code does not need to change when switching backends.

Checking Your Build

Start by verifying what capabilities are available in your installation.

library(PhysioOpenSim)

# Native C++ support compiled in?
opensimAvailable()
#> [1] FALSE

# Detailed build configuration
cfg <- opensimBuildConfig()
str(cfg)
#> List of 3
#>  $ package        : chr "PhysioOpenSim"
#>  $ opensim_enabled: logi FALSE
#>  $ detect_method  : chr "none"

# Is the OpenSim CLI on your PATH?
opensimCLIAvailable()
#> [1] FALSE

If neither backend is available, you can still use the template system (described below) to prepare OpenSim setup files for later execution.

Working with Models (Native Backend)

When native support is available, you can load and inspect .osim model files directly in R.

# Load a model
model <- opensimLoadModel("gait2392.osim")

# Inspect the model
opensimModelName(model)
info <- opensimModelSummary(model)
str(info)
# List of 8
#  $ model_name   : chr "gait2392"
#  $ n_bodies     : int 14
#  $ n_joints     : int 13
#  $ n_markers    : int 35
#  $ n_muscles    : int 92
#  $ n_coordinates: int 37
#  $ total_mass   : num 75.2
#  $ initialized  : logi FALSE

# Component names
comps <- opensimModelComponents(model)
head(comps$muscles)

# Modify and save
opensimSetModelName(model, "my_custom_model")
opensimModelInitialize(model)
opensimSaveModel(model, "my_custom_model.osim")

Template-Based Setup

The template system lets you generate OpenSim tool setup XMLs from a template by replacing specific XML tag values. This works without any OpenSim installation.

# Create a simple template
tpl <- tempfile(fileext = ".xml")
writeLines(c(
  '<?xml version="1.0" encoding="UTF-8" ?>',
  "<OpenSimDocument>",
  "  <InverseKinematicsTool>",
  "    <model_file>Unassigned</model_file>",
  "    <marker_file>Unassigned</marker_file>",
  "    <time_range>0 1</time_range>",
  "  </InverseKinematicsTool>",
  "</OpenSimDocument>"
), tpl)

# Generate a configured setup file
out <- tempfile(fileext = ".xml")
result <- opensimWriteToolSetupFromTemplate(
  template_file = tpl,
  output_file = out,
  fields = list(
    model_file = "gait2392.osim",
    marker_file = "walking_trial.trc",
    time_range = "0.5 2.0"
  )
)

# What was applied?
result$applied_tags
#> [1] "model_file"  "marker_file" "time_range"
result$missing_tags
#> character(0)

# Inspect the output
cat(readLines(result$output_file), sep = "\n")
#> <?xml version="1.0" encoding="UTF-8" ?>
#> <OpenSimDocument>
#>   <InverseKinematicsTool>
#>     <model_file>gait2392.osim</model_file>
#>     <marker_file>walking_trial.trc</marker_file>
#>     <time_range>0.5 2.0</time_range>
#>   </InverseKinematicsTool>
#> </OpenSimDocument>

Strict vs. Non-Strict Mode

By default, strict = TRUE causes an error if any requested tag is not found in the template. Use strict = FALSE for partial replacements.

tpl2 <- tempfile(fileext = ".xml")
writeLines(c(
  "<root>",
  "  <model_file>old</model_file>",
  "</root>"
), tpl2)

# This would error with strict = TRUE:
out2 <- tempfile(fileext = ".xml")
result2 <- suppressWarnings(
  opensimWriteToolSetupFromTemplate(
    template_file = tpl2,
    output_file = out2,
    fields = list(model_file = "new.osim", nonexistent_tag = "value"),
    strict = FALSE
  )
)
result2$applied_tags
#> [1] "model_file"
result2$missing_tags
#> [1] "nonexistent_tag"

Running Tools

Once you have a setup XML, run it through OpenSim.

# Auto-selects native or CLI backend
result <- opensimRunTool("ik_setup.xml")
result$status    # 0 = success
result$stdout
result$stderr

# Force CLI with extra arguments
result <- opensimRunTool(
  "ik_setup.xml",
  execution = "cli",
  extra_args = c("--visualize"),
  timeout_sec = 120
)

Typed wrappers are available for common tools:

opensimRunIK("ik_setup.xml")
opensimRunID("id_setup.xml")
opensimRunSO("so_setup.xml")
opensimRunAnalyze("analyze_setup.xml")
opensimRunRRA("rra_setup.xml")
opensimRunCMC("cmc_setup.xml")

Backend Selection Guide

Scenario	Recommended Backend
Batch processing, speed critical	Native
No OpenSim SDK installed locally	CLI
Need `extra_args` for CLI flags	CLI
Generic `tool_type = "tool"`	CLI (native requires specific type)
Default (let the package decide)	`execution = "auto"`