Python Static Optimization

[pariterre]

New feature

Brief summary of changes

This is a Python implementation of the Static Optimization. One can use this example as template to perform their own static optimization in Python.

Testing I've completed

This gives similar results as the implementation of the Static Optimization that uses muscle equilibrium

CHANGELOG.md (choose one)

• updated the python interface section with the following:
• Added an example of Static optimization performed in Python 3.

The Doxygen for this PR can be viewed at http://myosin.sourceforge.net/?C=N;O=D; click the folder whose name is this PR's number.

---

This change is 

[aymanhab]

Thanks for this valuable contribution. Will review and respond on the PR. :+1

[pariterre]

I was finishing to implement an improved linear approximation of the constraints in the StaticOptimization of the C++ code, when I noticed that sometimes, for no apparent reason, the muscles equilibrium failed. The work-around (in C++ code) is basically to modify ever so slightly the values of the activations (+0.1%) hoping this solves the equilibrium issues.

However, since it throws an error if it fails, right now it is impossible to do the same trick in Python (right now, the C++ throw by-passes the try-catch of python, crashing anyway). Is there a way to "try-catch" this error in python? If it is not possible, I don't think it is useful in any way to implement a full in-depth example of the Static Optimization in Python as the one proposed in this PR since the chances of success are very slim!

[pariterre]

Or, if I am allowed, I would add the exceptions in the swig files so we can catch them :)