def print_model():
model = osim.Model()
model.setName('model')
# Create a body with name 'body', mass of 1 kg, center of mass at the
# origin of the body, and unit inertia (Ixx = Iyy = Izz = 1 kg-m^2).
body = osim.Body('body', 1.0, osim.Vec3(0), osim.Inertia(1))
# Create a free joint (all 6 degrees of freedom) with Ground as the parent
# body and 'body' as the child body.
joint = osim.FreeJoint('joint', model.getGround(), body)
# Add the body and joint to the model.
model.addComponent(body)
model.addComponent(joint)
# Create a TableReporter to save quantities to a file after simulating.
reporter = osim.TableReporterVec3()
reporter.setName('reporter')
reporter.set_report_time_interval(0.1)
# Report the position of the origin of the body.
reporter.addToReport(body.getOutput('position'))
# For comparison, we will also get the center of mass position from the
# Model, and we can check that the two outputs are the same for our
# one-body system. The (optional) second argument is an alias for the name
# of the output; it is used as the column label in the table.
reporter.addToReport(model.getOutput('com_position'), 'com_pos')
# Display what input-output connections look like in XML (in .osim files).
print("Reporter input-output connections in XML:\n" + reporter.dump())
model.addComponent(reporter)
model.printToXML(model_filename)
def print_model():
model = osim.Model()
model.setName('model')
# Create a body with name 'body', mass of 1 kg, center of mass at
# the origin of the body, and unit inertia
# (Ixx = Iyy = Izz = 1 kg-m^2).
body = osim.Body('body', 1.0, osim.Vec3(0), osim.Inertia(1))
# Create a free joint (all 6 degrees of freedom) with Ground as
# the parent body and 'body' as the child body.
joint = osim.FreeJoint('joint', model.getGround(), body)
# Add the body and joint to the model.
model.addComponent(body)
model.addComponent(joint)
# Create a TableReporter to save quantities to a file after
# simulating.
reporter = osim.TableReporterVec3()
reporter.setName('reporter')
reporter.set_report_time_interval(0.1)
reporter.addToReport(model.getOutput('com_position'))
reporter.getInput('inputs').setAlias(0, 'com_pos')
# Display what input-output connections look like in XML
# (in .osim files).
print("Reporter input-output connections in XML:\n" + \
reporter.dump())
model.addComponent(reporter)
model.printToXML(model_filename)
def animate_iterations(modelIn, traj_prefix):
xmin = np.inf
ymin = np.inf
zmin = np.inf
xmax = -np.inf
ymax = -np.inf
zmax = -np.inf
data = list()
dir, prefix = os.path.split(traj_prefix)
files = sorted(os.listdir(dir))
for file in files:
if file.startswith(prefix):
model = osim.Model(modelIn)
trajectory = osim.MocoTrajectory(os.path.join(dir, file))
statesTab = trajectory.exportToStatesTable()
osim.STOFileAdapter.write(statesTab, 'statestabTODO.sto')
states_traj = osim.StatesTrajectory.createFromStatesStorage(
model, 'statestabTODO.sto')
reporter = osim.TableReporterVec3()
model.finalizeFromProperties()
for comp in model.getComponentsList():
marker = osim.Marker.safeDownCast(comp)
if marker:
reporter.addToReport(marker.getOutput('location'))
model.addComponent(reporter)
model.initSystem()
for state in states_traj:
model.realizeReport(state)
table = reporter.getTable().flatten(['_x', '_y', '_z'])
filepath = "TODO.sto"
osim.STOFileAdapterVec3.write(reporter.getTable(), 'TODO3.sto')
osim.STOFileAdapter.write(table, filepath)
num_header_rows = 1
with open(filepath) as f:
for line in f:
if not line.startswith('endheader'):
num_header_rows += 1
else:
break
this_data = pd.read_csv(filepath,
delimiter='\t',
index_col=0,
header=num_header_rows)
assert (len(this_data.columns) % 3 == 0)
xmin = min(
xmin, np.min(this_data.iloc[:, 0::3].to_numpy(),
keepdims=False))
xmax = max(
xmax, np.max(this_data.iloc[:, 0::3].to_numpy(),
keepdims=False))
ymin = min(
ymin, np.min(this_data.iloc[:, 1::3].to_numpy(),
keepdims=False))
ymax = max(
ymax, np.max(this_data.iloc[:, 1::3].to_numpy(),
keepdims=False))
zmin = min(
zmin, np.min(this_data.iloc[:, 2::3].to_numpy(),
keepdims=False))
zmax = max(
zmax, np.max(this_data.iloc[:, 2::3].to_numpy(),
keepdims=False))
data.append(this_data)
assert (len(data) > 0)
# TODO uniform time sampling for interpretable results!!!
fig = pl.figure()
ax = fig.add_subplot(111, projection='3d')
# graph, = ax.plot([], [], [], color='k',
# linestyle=' ',
# marker='o')
len_data = float(len(data))
def init():
ax.set_axis_off()
ax.set_xlim(xmin, xmax)
ax.set_ylim(zmin, zmax)
ax.set_zlim(ymin, ymax)
def update(frame):
# graph.set_data(data[frame].iloc[:, 0::3].values.flatten(),
# data[frame].iloc[:, 1::3].values.flatten())
# graph.set_3d_properties(data[frame].iloc[:, 2::3].values.flatten())
pl.cla()
ax.set_axis_off()
ax.set_xlim(xmin, xmax)
ax.set_ylim(zmin, zmax)
ax.set_zlim(ymin, ymax)
for i in range(frame - 1, frame):
for j in range(int(len(data[i].columns) / 3)):
ax.plot(
data[i].iloc[:, 3 * j].values.flatten(),
data[i].iloc[:, 3 * j + 2].values.flatten(),
data[i].iloc[:, 3 * j + 1].values.flatten(),
#color=(1 - i / float(frame),
# 1 - i / float(frame),
# 1 - i / float(frame)),
linestyle='-',
)
# ax.plot(data[i].iloc[:, 0::3].values.flatten(),
# data[i].iloc[:, 2::3].values.flatten(),
# data[i].iloc[:, 1::3].values.flatten(),
# color=(1 - i / float(frame),
# 1 - i / float(frame),
# 1 - i / float(frame)),
# linestyle=' ',
# marker='o',
# markersize=1,
# )
ax.set_title(f'iteration {frame}')
# return graph,
animation = FuncAnimation(fig,
update,
init_func=init,
frames=range(len(data)))
pl.show()
