def test_ToolAndModel(self):
# Test tools module.
cmc = osim.CMCTool()
model = osim.Model()
model.setName('alphabet')
cmc.setModel(model)
assert cmc.getModel().getName() == 'alphabet'
def generate_results(self, root_dir, args):
self.parse_args(args)
from transform_and_filter_ground_reaction import \
transform_and_filter_ground_reaction
# TODO: We aren't actually using this filtered file yet.
transform_and_filter_ground_reaction(
os.path.join(root_dir, 'resources/Rajagopal2016/emg_walk_raw.anc'),
os.path.join(root_dir, 'resources/Rajagopal2016/grf_walk.mot'),
'ground_reaction_forces',
'rlr',
mode='multicutoff')
modelProcessor = self.create_model_processor(root_dir)
cmc = osim.CMCTool(
os.path.join(root_dir,
'code/motion_prescribed_walking_cmc_setup.xml'))
analyze = osim.AnalyzeTool(
os.path.join(root_dir,
'code/motion_prescribed_walking_analyze_setup.xml'))
# 2.5 minute
if self.cmc:
cmc.run()
analyze.run()
mesh_interval = (self.final_time - self.initial_time) / 25.0
# 8 minutes
if self.inverse:
solution_filepath = self.mocoinverse_solution_file % root_dir
self.solve_inverse(root_dir, modelProcessor, mesh_interval,
solution_filepath)
# TODO
# # 0.04 and 0.03 work
# inverse.set_mesh_interval(0.01)
# # inverse.set_convergence_tolerance(1e-4)
# solution = inverse.solve()
# solution.getMocoSolution().write(self.mocoinverse_fine_solution_file % root_dir)
# MocoInverse, minimize joint reactions
# -------------------------------------
inverse = self.create_inverse(root_dir, modelProcessor, mesh_interval)
study = inverse.initialize()
problem = study.updProblem()
reaction_r = osim.MocoJointReactionGoal('reaction_r', 0.005)
reaction_r.setJointPath('/jointset/walker_knee_r')
reaction_r.setReactionMeasures(['force-x', 'force-y'])
reaction_l = osim.MocoJointReactionGoal('reaction_l', 0.005)
reaction_l.setJointPath('/jointset/walker_knee_l')
reaction_l.setReactionMeasures(['force-x', 'force-y'])
problem.addGoal(reaction_r)
problem.addGoal(reaction_l)
solver = osim.MocoCasADiSolver.safeDownCast(study.updSolver())
# 13 minutes.
if self.knee:
solution_reaction = study.solve()
solution_reaction.write(self.mocoinverse_jointreaction_solution_file % root_dir)
def computedMuscleControl():
allDir = list(directories.main(directories))
paramsDir = allDir[1]
subID = allDir[4]
subResultsDir = allDir[5]
ikResultsDir = allDir[6]
idResultsDir = allDir[7]
rraResultsDir = allDir[9]
cmcResultsDir = allDir[10]
# Input Files
idData = idResultsDir + "/subject01_walk1_extLoads.xml"
rraKinematics = rraResultsDir + "/" + "_kinematics_q.sto"
adjustedModel = rraResultsDir + "/" + subID + "_adjustedModel.osim"
# Set XML file Variables
cmcTasks = paramsDir + "/" + "cmcTasks.xml"
cmcActuators = paramsDir + "/" + "cmcActuators.xml"
cmcControlConstraints = paramsDir + "/" + "cmcControlConstraints.xml"
osimGUI = paramsDir + "/" + "osimGUI.xml"
if os.path.exists(cmcResultsDir):
shutil.rmtree(cmcResultsDir, ignore_errors=True)
if not os.path.exists(cmcResultsDir):
os.mkdir(cmcResultsDir)
# Load Model
aModel = osim.Model(adjustedModel)
# initialize system
aModel.initSystem()
cmcTool = osim.CMCTool()
cmcTool.setModel(aModel)
cmcTool.setModelFilename(subID + ".osim")
cmcTool.setDesiredKinematicsFileName(rraKinematics)
cmcTool.setTaskSetFileName(cmcTasks)
cmcTool.setExternalLoadsFileName(idData)
cmcTool.setConstraintsFileName(cmcControlConstraints)
cmcTool.setStartTime(0.8)
cmcTool.setFinalTime(1.2)
cmcTool.setLowpassCutoffFrequency(-1)
cmcTool.setMaxDT(1)
cmcTool.setMinDT(0.0000000001)
cmcTool.setErrorTolerance(0.00001)
# Force Set
myForceSet = osim.ForceSet(aModel, cmcActuators)
cmcTool.setReplaceForceSet(False)
cmcTool.setResultsDir(cmcResultsDir)
# Manually append Force Set
modelForceSet = aModel.updForceSet()
for i in range(myForceSet.getSize()):
aModel.updForceSet().append(myForceSet.get(i))
cmcTool.run()
cmcTool.printToXML(cmcResultsDir + "/" + "cmcSetup.xml")
return ()
def test_AnalysisToolModel(self):
# Test analyses module.
cmc = osim.CMCTool()
model = osim.Model()
model.setName('eggplant')
fr = osim.ForceReporter()
fr.setName('strong')
cmc.setModel(model)
cmc.getAnalysisSet().adoptAndAppend(fr)
assert cmc.getModel().getName() == 'eggplant'
assert cmc.getAnalysisSet().get(0).getName() == 'strong'