def test_deserialize_tool_with_empty_model_file(self):
# Ensure an exception is thrown when loading an AbstractTool (e.g.,
# ForwardTool) setup file with an empty model_file. In particular, we
# want to check the case where force_set_files is not empty.
with self.assertRaises(RuntimeError):
rra = osim.ForwardTool(
os.path.join(test_dir,
'gait2392_setup_forward_empty_model.xml'))
# No exception if we pass loadModel=False
rra = osim.ForwardTool(
os.path.join(test_dir, 'gait2392_setup_forward_empty_model.xml'),
True, # updateFromXMLNode
False, # loadModel
)
def test_index_and_iterator(self):
if os.path.exists(self.states_sto_fname):
os.remove(self.states_sto_fname)
model = osim.Model(
os.path.join(test_dir, "gait10dof18musc_subject01.osim"))
model.initSystem()
forward = osim.ForwardTool()
forward.setModel(model)
forward.setName('test_states_trajectory_gait1018')
forward.setFinalTime(0.1)
forward.run()
states = osim.StatesTrajectory.createFromStatesStorage(
model, self.states_sto_fname)
# Test indexing into the states container.
model.getTotalMass(states[0])
count = 0
for i in range(states.getSize()):
model.calcMassCenterVelocity(states.get(i))
count += 1
# Test iterator.
count_iter = 0
for state in states:
model.calcMassCenterPosition(state)
count_iter += 1
assert count == count_iter
def frwd_runner(model):
model.initSystem()
reporter = osim.ForceReporter(model)
model.addAnalysis(reporter)
fwd_tool = osim.ForwardTool()
fwd_tool.setModel(model)
fwd_tool.setFinalTime(3)
fwd_tool.run()
def optimizer_callBack(x):
#the parameters that the optimizer changes
ks = x[0] * 10000
#initializes the system and sets up forward dynamics tool
copy.initSystem()
reporter = osim.ForceReporter(copy)
copy.addAnalysis(reporter)
fwd_tool = osim.ForwardTool()
fwd_tool.setModel(copy)
fwd_tool.setFinalTime(3)
#gets the geometry path of the right spring
baseR = frcSet.get(1)
right = osim.SpringGeneralizedForce.safeDownCast(baseR)
#sets the stiffness of the right spring
right.setStiffness(ks)
#gets the geometry path of the left spring
baseL = frcSet.get(2)
left = osim.SpringGeneralizedForce.safeDownCast(baseL)
#sets the stiffness of the left spring
left.setStiffness(ks)
angles = [0, 7.5, 15]
forces = [(0, 0), (0, 0), (0, 0)]
for i in range(0, 3):
coord = model.getCoordinateSet()
d = coord.get(0)
d.set_default_value(angles[i] * math.pi / 180)
fwd_tool.run()
storage = reporter.getForceStorage()
stateVec = storage.getLastStateVector()
dataSet = stateVec.getData()
force1 = dataSet.get(f1_index)
force2 = dataSet.get(f2_index)
forces[i] = (force1, force2)
print(forces)
return (math.fabs(forces[0][0]) - math.fabs(forces[0][1]))**2 + (
math.fabs(forces[1][0]) - math.fabs(forces[1][1]))**2 + (
math.fabs(forces[2][0]) - math.fabs(forces[2][1]))**2
def callBack():
try:
#makes a copy of the original model
newModel.printToXML("C:/Users/mhmdk/Desktop/Co-op files/co-op semester 1/Python Code/newVersion.osim")
newVersionModel = osim.Model("C:/Users/mhmdk/Desktop/Co-op files/co-op semester 1/Python Code/newVersion.osim")
newVersionBase = newVersionModel.getMuscles().get(0)
newVersionMuscle = osim.Millard2012EquilibriumMuscle.safeDownCast(newVersionBase)
fibLen = float(lo.get())
slackLen = float(ls.get())
blockLoc = newVersionMuscle.getGeometryPath().getPathPointSet().get(1).getLocation().get(2)
# Left muscle
if blockLoc > 0:
groundLoc = blockLoc + fibLen + slackLen
#right muscle
else:
groundLoc = blockLoc - fibLen - slackLen
vector = osim.Vec3(0, 0.05, groundLoc)
newVersionMuscle.updGeometryPath().getPathPointSet().get(0).setLocation(initState, vector)
newVersionModel.initSystem()
#creates a new states file that corresponds to the sliders
new_states_file = open("corrected_tug_of_war_states.sto", "w")
new_states_file.write("Tug_of_War_Competition\n")
new_states_file.write("nRows = 1\n")
new_states_file.write("nColumns = 7\n")
new_states_file.write("inDegree = no\n")
new_states_file.write("endheader\n")
new_states_file.write("time\tblock_tz\tblock_tz_u\tRightMuscle.activation\tRightMuscle.fiber_length\tLeftMuscle.activation\tLeftMuscle.fiber_length\n")
new_states_file.write("0\t0\t0\t0.01\t" + str(newVersionMuscle.get_optimal_fiber_length()) +"\t0.01\t0.1")
new_states_file.close()
#creates the forward tool and force reporter
reporter = osim.ForceReporter(newVersionModel)
newVersionModel.addAnalysis(reporter)
fwd_tool = osim.ForwardTool()
fwd_tool.setControlsFileName("C:\OpenSim 3.3\Models\Tug_of_War\Tug_of_War_Millard_controls_corrected.xml")
fwd_tool.setStatesFileName("C:\Users\mhmdk\Desktop\Co-op files\co-op semester 1\Python Code\corrected_tug_of_war_states.sto")
fwd_tool.setModel(newVersionModel)
fwd_tool.run()
updater()
except osim.OpenSimException:
messagebox.showwarning("Warning", "The parameter combination is physiologically impossible")
def optimizer_callBack(x):
model.printToXML("C:/Users/mhmdk/Desktop/Co-op files/co-op semester 1/optimizers_2/friction/copy_hangingHarnessModel_fric.osim")
copy = osim.Model("C:/Users/mhmdk/Desktop/Co-op files/co-op semester 1/optimizers_2/friction/copy_hangingHarnessModel_fric.osim")
frcSet = copy.getForceSet()
opt_changer(7, x[0]*10, frcSet)
opt_changer(8, x[0]*10, frcSet)
copy.printToXML("C:/Users/mhmdk/Desktop/Co-op files/co-op semester 1/optimizers_2/friction/copy_hangingHarnessModel_fric.osim")
copy.initSystem()
reporter = osim.ForceReporter(copy)
copy.addAnalysis(reporter)
fwd_tool = osim.ForwardTool()
fwd_tool.setModel(copy)
fwd_tool.setControlsFileName(file_name)
fwd_tool.addControllerSetToModel()
fwd_tool.setFinalTime(3)
baseR = frcSet.get(1)
rightLeg = osim.PathSpring.safeDownCast(baseR)
rightLeg.setStiffness(x[1]*10000)
baseL = frcSet.get(2)
leftLeg = osim.PathSpring.safeDownCast(baseL)
leftLeg.setStiffness(x[1]*10000)
fwd_tool.run()
storage = reporter.getForceStorage()
stateVec = storage.getLastStateVector()
dataSet = stateVec.getData()
force1 = dataSet.get(4)
force2 = dataSet.get(6)
force3 = dataSet.get(8)
os.remove("copy_hangingHarnessModel_fric.osim")
print("force1: " + str(force1))
print("force2: " + str(force2))
print("force3: " + str(force3))
print(force3**2)
print(x[0])
return 1000*x[0]**2 + (math.floor(float(force1)) - math.floor(float(force2)))**2
def optimizer_callBack(x):
model.printToXML("C:/Users/mhmdk/Desktop/Co-op files/co-op semester 1/optimizers_2/friction/copy_hangingHarnessModel_fric_lim.osim")
copy = osim.Model("C:/Users/mhmdk/Desktop/Co-op files/co-op semester 1/optimizers_2/friction/copy_hangingHarnessModel_fric_lim.osim")
frcSet = copy.getForceSet()
copy.initSystem()
reporter = osim.ForceReporter(copy)
copy.addAnalysis(reporter)
fwd_tool = osim.ForwardTool()
fwd_tool.setModel(copy)
file_name = "cont1.xml"
controls_writer(file_name, x[0]*10)
opt_changer(7, 1, frcSet)
opt_changer(8, 1, frcSet)
fwd_tool.setControlsFileName(file_name)
fwd_tool.addControllerSetToModel()
fwd_tool.setFinalTime(3)
baseR = frcSet.get(1)
rightLeg = osim.PathSpring.safeDownCast(baseR)
rightLeg.setStiffness(x[1]*10000)
baseL = frcSet.get(2)
leftLeg = osim.PathSpring.safeDownCast(baseL)
leftLeg.setStiffness(x[1]*10000)
copy.printToXML("C:/Users/mhmdk/Desktop/Co-op files/co-op semester 1/optimizers_2/friction/copy_hangingHarnessModel_fric.osim")
fwd_tool.run()
storage = reporter.getForceStorage()
lbls = storage.getColumnLabels()
stateVec = storage.getLastStateVector()
dataSet = stateVec.getData()
os.remove("copy_hangingHarnessModel_fric_lim.osim")
print("\nLoop: \n")
for i in range(1, 11):
arr_ind = i - 1
lbls_ind = i + 1
arr[arr_ind] = dataSet.get(i)
print(lbls.get(lbls_ind) + ": " + str(dataSet.get(i)))
return 1000*x[0]**2 + (math.floor(float(arr[2])) - math.floor(float(arr[4])))**2 + 1000*dataSet.get(9)**2
def test_reporter(self):
model = osim.Model(
os.path.join(test_dir, "gait10dof18musc_subject01.osim"))
rep = osim.StatesTrajectoryReporter()
rep.setName('reporter')
rep.set_report_time_interval(0.01)
model.addComponent(rep)
model.initSystem()
forward = osim.ForwardTool()
forward.setModel(model)
forward.setName('test_states_trajectory_reporter_gait1018')
forward.setFinalTime(0.05)
forward.run()
states = rep.getStates()
assert states.getSize() == 6
for i in range(6):
assert states[i].getTime() == i * 0.01
def optimizer_callBack(x):
copy.initSystem()
reporter = osim.ForceReporter(copy)
copy.addAnalysis(reporter)
fwd_tool = osim.ForwardTool()
fwd_tool.setModel(copy)
fwd_tool.setFinalTime(3)
ks = 39810
angleRad = x[0] * math.pi / 180
shifted_strap_right = angle_shifter(length=length_calc(shR_strap),
angle=angleRad,
s="r",
tup=shR_strap)
shifted_strap_left = angle_shifter(length=length_calc(shL_strap),
angle=angleRad,
s="l",
tup=shL_strap)
len_new = length_calc(shifted_strap_right)
right_start = shifted_strap_right[0]
right_end = shifted_strap_right[1]
rs = refactor(arr=right_start, arrRef=hip_pelvis)
rE = refactor(arr=right_end, arrRef=shR_pelvis)
left_start = shifted_strap_left[0]
left_end = shifted_strap_left[1]
ls = refactor(arr=left_start, arrRef=hip_pelvis)
le = refactor(arr=left_end, arrRef=shL_pelvis)
vecRs = osim.Vec3(rs[0], rs[1], rs[2])
vecRe = osim.Vec3(rE[0], rE[1], rE[2])
vecLs = osim.Vec3(ls[0], ls[1], ls[2])
vecLe = osim.Vec3(le[0], le[1], le[2])
baseR = frcSet.get(1)
rightShoulder = osim.PathSpring.safeDownCast(baseR)
geoR = rightShoulder.upd_GeometryPath()
ppset_r = geoR.updPathPointSet()
point_start_r = ppset_r.get(0)
point_end_r = ppset_r.get(1)
rightShoulder.setRestingLength(len_new)
rightShoulder.setStiffness(ks)
point_start_r.setLocation(copy.initSystem(), vecRs)
point_end_r.setLocation(copy.initSystem(), vecRe)
baseL = frcSet.get(2)
leftShoulder = osim.PathSpring.safeDownCast(baseL)
geoL = leftShoulder.upd_GeometryPath()
ppset_l = geoL.updPathPointSet()
point_start_l = ppset_l.get(0)
point_end_l = ppset_l.get(1)
leftShoulder.setRestingLength(len_new)
leftShoulder.setStiffness(ks)
point_start_l.setLocation(copy.initSystem(), vecLs)
point_end_l.setLocation(copy.initSystem(), vecLe)
copy.printToXML(
"C:\Users\mhmdk\Desktop\Co-op files\co-op semester 1\optimizers_2\loadingHarnessModel\copy_loadingHarnessModel_limitedHip.osim"
)
fwd_tool.run()
storage = reporter.getForceStorage()
stateVec = storage.getLastStateVector()
dataSet = stateVec.getData()
force1 = dataSet.get(4)
force2 = dataSet.get(6)
force3 = dataSet.get(8)
return (math.floor(float(force1)) -
math.floor(float(force2)))**2 + force3**2
frcSet = copy.getForceSet()
def opt_changer(index, val):
frcBase = frcSet.get(index)
frc = osim.PathActuator.safeDownCast(frcBase)
frc.setOptimalForce(val)
file_name = "control.xml"
controls_writer(file_name, 1)
copy.initSystem()
reporter = osim.ForceReporter(copy)
copy.addAnalysis(reporter)
fwd_tool = osim.ForwardTool()
fwd_tool.setModel(copy)
#change the value of the friction below
friction = 50
opt_changer(7, friction)
opt_changer(8, friction)
fwd_tool.setControlsFileName(file_name)
fwd_tool.addControllerSetToModel()
fwd_tool.setFinalTime(3)
copy.printToXML(
"C:/Users/mhmdk/Desktop/Co-op files/co-op semester 1/optimizers_2/friction/copy_hangingHarnessModel_fric.osim"
)
fwd_tool.run()
def optimizer_callBack(x):
#the parameters that the optimizer changes
ks = x[0] * 1000
angleRad = x[1] * math.pi / 180
#initializes the system and sets up forward dynamics tool
copy.initSystem()
reporter = osim.ForceReporter(copy)
copy.addAnalysis(reporter)
fwd_tool = osim.ForwardTool()
fwd_tool.setModel(copy)
fwd_tool.setFinalTime(3)
if flag_model == UNLOADING_FLAG:
shifted_strap_right = angle_shifter(length=length_calc(legR_strap),
angle=angleRad,
s="r",
tup=legR_strap)
shifted_strap_left = angle_shifter(length=length_calc(legL_strap),
angle=angleRad,
s="l",
tup=legL_strap)
elif flag_model == LOADING_FLAG:
shifted_strap_right = angle_shifter(length=length_calc(shR_strap),
angle=angleRad,
s="r",
tup=shR_strap)
shifted_strap_left = angle_shifter(length=length_calc(shL_strap),
angle=angleRad,
s="l",
tup=shL_strap)
len_new = length_calc(shifted_strap_right)
right_start = shifted_strap_right[0]
right_end = shifted_strap_right[1]
left_start = shifted_strap_left[0]
left_end = shifted_strap_left[1]
rs = refactor(arr=right_start, arrRef=hip_pelvis)
ls = refactor(arr=left_start, arrRef=hip_pelvis)
if flag_model == UNLOADING_FLAG:
rE = refactor(arr=right_end, arrRef=legR_pelvis)
le = refactor(arr=left_end, arrRef=legL_pelvis)
elif flag_model == LOADING_FLAG:
rE = refactor(arr=right_end, arrRef=shR_pelvis)
le = refactor(arr=left_end, arrRef=shL_pelvis)
#creates 3-D vectors
vecRs = osim.Vec3(rs[0], rs[1], rs[2])
vecRe = osim.Vec3(rE[0], rE[1], rE[2])
vecLs = osim.Vec3(ls[0], ls[1], ls[2])
vecLe = osim.Vec3(le[0], le[1], le[2])
#gets the geometry path of the right spring
baseR = frcSet.get(1)
right = osim.PathSpring.safeDownCast(baseR)
geoR = right.upd_GeometryPath()
ppset_r = geoR.updPathPointSet()
#changes the start and end of the right spring
point_start_r = ppset_r.get(0)
point_end_r = ppset_r.get(1)
#sets the stiffness and the resting length of the right spring
right.setRestingLength(len_new)
right.setStiffness(ks)
#sets location of the start and end of the right spring
point_start_r.setLocation(copy.initSystem(), vecRs)
point_end_r.setLocation(copy.initSystem(), vecRe)
#gets the geometry path of the left spring
baseL = frcSet.get(2)
left = osim.PathSpring.safeDownCast(baseL)
geoL = left.upd_GeometryPath()
ppset_l = geoL.updPathPointSet()
#changes the start and end of the left spring
point_start_l = ppset_l.get(0)
point_end_l = ppset_l.get(1)
#sets the stiffness and the resting length of the left spring
left.setRestingLength(len_new)
left.setStiffness(ks)
#sets location of the start and end of the left spring
point_start_l.setLocation(copy.initSystem(), vecLs)
point_end_l.setLocation(copy.initSystem(), vecLe)
if flag_model == UNLOADING_FLAG:
copy.printToXML(unloading_copy_path)
elif flag_model == LOADING_FLAG:
copy.printToXML(loading_copy_path)
fwd_tool.run()
storage = reporter.getForceStorage()
stateVec = storage.getLastStateVector()
dataSet = stateVec.getData()
force1 = dataSet.get(3)
force2 = dataSet.get(5)
return ((math.floor(float(force1)) - math.floor(float(force2)))**2)
def optimizer_callBack(x):
model.printToXML(
"C:/Users/mhmdk/Desktop/Co-op files/co-op semester 1/optimizers_2/friction/copy_loadingHarnessModel_fric_lim.osim"
)
copy = osim.Model(
"C:/Users/mhmdk/Desktop/Co-op files/co-op semester 1/optimizers_2/friction/copy_loadingHarnessModel_fric_lim.osim"
)
frcSet = copy.getForceSet()
ks = 39810
angleRad = x[0] * math.pi / 180
copy.initSystem()
reporter = osim.ForceReporter(copy)
copy.addAnalysis(reporter)
fwd_tool = osim.ForwardTool()
fwd_tool.setModel(copy)
file_name = "cont1.xml"
controls_writer(file_name, x[1] * 10)
opt_changer(7, 1, frcSet)
opt_changer(8, 1, frcSet)
fwd_tool.setControlsFileName(file_name)
fwd_tool.addControllerSetToModel()
fwd_tool.setFinalTime(3)
shifted_strap_right = angle_shifter(length=length_calc(shR_strap),
angle=angleRad,
s="r",
tup=shR_strap)
shifted_strap_left = angle_shifter(length=length_calc(shL_strap),
angle=angleRad,
s="l",
tup=shL_strap)
len_new = length_calc(shifted_strap_right)
right_start = shifted_strap_right[0]
right_end = shifted_strap_right[1]
rs = refactor(arr=right_start, arrRef=hip_pelvis)
rE = refactor(arr=right_end, arrRef=shR_pelvis)
left_start = shifted_strap_left[0]
left_end = shifted_strap_left[1]
ls = refactor(arr=left_start, arrRef=hip_pelvis)
le = refactor(arr=left_end, arrRef=shL_pelvis)
vecRs = osim.Vec3(rs[0], rs[1], rs[2])
vecRe = osim.Vec3(rE[0], rE[1], rE[2])
vecLs = osim.Vec3(ls[0], ls[1], ls[2])
vecLe = osim.Vec3(le[0], le[1], le[2])
baseR = frcSet.get(1)
rightLeg = osim.PathSpring.safeDownCast(baseR)
geoR = rightLeg.upd_GeometryPath()
ppset_r = geoR.updPathPointSet()
point_start_r = ppset_r.get(0)
point_end_r = ppset_r.get(1)
rightLeg.setRestingLength(len_new)
rightLeg.setStiffness(ks)
point_start_r.setLocation(copy.initSystem(), vecRs)
point_end_r.setLocation(copy.initSystem(), vecRe)
baseL = frcSet.get(2)
leftLeg = osim.PathSpring.safeDownCast(baseL)
geoL = leftLeg.upd_GeometryPath()
ppset_l = geoL.updPathPointSet()
point_start_l = ppset_l.get(0)
point_end_l = ppset_l.get(1)
leftLeg.setRestingLength(len_new)
leftLeg.setStiffness(ks)
point_start_l.setLocation(copy.initSystem(), vecLs)
point_end_l.setLocation(copy.initSystem(), vecLe)
copy.printToXML(
"C:/Users/mhmdk/Desktop/Co-op files/co-op semester 1/optimizers_2/friction/copy_loadingHarnessModel_fric_lim.osim"
)
fwd_tool.run()
storage = reporter.getForceStorage()
lbls = storage.getColumnLabels()
stateVec = storage.getLastStateVector()
dataSet = stateVec.getData()
os.remove("copy_loadingHarnessModel_fric_lim.osim")
print("\nLoop: \n")
for i in range(1, 11):
arr_ind = i - 1
lbls_ind = i + 1
arr[arr_ind] = dataSet.get(i)
print(lbls.get(lbls_ind) + ": " + str(dataSet.get(i)))
return x[1]**2 + (math.floor(float(arr[2])) -
math.floor(float(arr[4])))**2 + dataSet.get(9)**2
def optimizer_callBack(x):
ks = 39810
angleRad = x[0] * math.pi / 180
copy.initSystem()
reporter = osim.ForceReporter(copy)
copy.addAnalysis(reporter)
fwd_tool = osim.ForwardTool()
fwd_tool.setModel(copy)
fwd_tool.setFinalTime(3)
shifted_strap_right = angle_shifter(length=length_calc(legR_strap),
angle=angleRad,
s="r",
tup=legR_strap)
shifted_strap_left = angle_shifter(length=length_calc(legL_strap),
angle=angleRad,
s="l",
tup=legL_strap)
len_new = length_calc(shifted_strap_right)
right_start = shifted_strap_right[0]
right_end = shifted_strap_right[1]
rs = refactor(arr=right_start, arrRef=hip_pelvis)
rE = refactor(arr=right_end, arrRef=legR_pelvis)
left_start = shifted_strap_left[0]
left_end = shifted_strap_left[1]
ls = refactor(arr=left_start, arrRef=hip_pelvis)
le = refactor(arr=left_end, arrRef=legL_pelvis)
vecRs = osim.Vec3(rs[0], rs[1], rs[2])
vecRe = osim.Vec3(rE[0], rE[1], rE[2])
vecLs = osim.Vec3(ls[0], ls[1], ls[2])
vecLe = osim.Vec3(le[0], le[1], le[2])
baseR = frcSet.get(1)
rightLeg = osim.PathSpring.safeDownCast(baseR)
geoR = rightLeg.upd_GeometryPath()
ppset_r = geoR.updPathPointSet()
point_start_r = ppset_r.get(0)
point_end_r = ppset_r.get(1)
rightLeg.setRestingLength(len_new)
rightLeg.setStiffness(ks)
point_start_r.setLocation(copy.initSystem(), vecRs)
point_end_r.setLocation(copy.initSystem(), vecRe)
baseL = frcSet.get(2)
leftLeg = osim.PathSpring.safeDownCast(baseL)
geoL = leftLeg.upd_GeometryPath()
ppset_l = geoL.updPathPointSet()
point_start_l = ppset_l.get(0)
point_end_l = ppset_l.get(1)
leftLeg.setRestingLength(len_new)
leftLeg.setStiffness(ks)
point_start_l.setLocation(copy.initSystem(), vecLs)
point_end_l.setLocation(copy.initSystem(), vecLe)
copy.printToXML(
"C:/Users/mhmdk/Desktop/Co-op files/co-op semester 1/optimizers_2/all_opt/copy_hangingHarnessModel_lim_hip.osim"
)
angles = [0, 7.5, 15]
forces = [(0, 0), (0, 0), (0, 0)]
force_lim = [0, 0, 0]
for i in range(0, 3):
coord = model.getCoordinateSet()
d = coord.get(0)
d.set_default_value(angles[i] * math.pi / 180)
fwd_tool.run()
storage = reporter.getForceStorage()
stateVec = storage.getLastStateVector()
dataSet = stateVec.getData()
force1 = dataSet.get(4)
force2 = dataSet.get(6)
force3 = dataSet.get(8)
forces[i] = (force1, force2)
force_lim[i] = force3
print(forces)
return (forces[0][0] -
forces[0][1])**2 + (forces[1][0] - forces[1][1])**2 + (
forces[2][0] -
forces[2][1])**2 + force_lim[0] + force_lim[1] + force_lim[2]
