def solveMocoInverse():
#Construct the MocoInverse tool.
inverse = osim.MocoInverse()
inverse.setName('inverseTorqueTracking')
#Construct a ModelProcessor and set it on the tool. The muscles are removed
#and reserve actuators added to generate a torque driven solution
modelProcessor = osim.ModelProcessor('scaledModelMuscle.osim')
modelProcessor.append(osim.ModOpAddExternalLoads('Jog05_grf.xml'))
modelProcessor.append(osim.ModOpRemoveMuscles())
modelProcessor.append(osim.ModOpAddReserves(300))
inverse.setModel(modelProcessor)
#Construct a TableProcessor of the coordinate data and pass it to the
#inverse tool. TableProcessors can be used in the same way as
#ModelProcessors by appending TableOperators to modify the base table.
#A TableProcessor with no operators, as we have here, simply returns the
#base table.
inverse.setKinematics(osim.TableProcessor('ikResults_states.sto'))
# Initial time, final time, and mesh interval.
inverse.set_initial_time(osim.Storage('ikResults_states.sto').getFirstTime())
inverse.set_final_time(osim.Storage('ikResults_states.sto').getLastTime())
inverse.set_mesh_interval(0.02)
# By default, Moco gives an error if the kinematics contains extra columns.
# Here, we tell Moco to allow (and ignore) those extra columns.
inverse.set_kinematics_allow_extra_columns(True)
# Solve the problem and write the solution to a Storage file.
solution = inverse.solve()
#Return the solution as an object that we can use
return solution
def solveMocoInverse():
# Construct the MocoInverse tool.
inverse = osim.MocoInverse()
# Construct a ModelProcessor and set it on the tool. The default
# muscles in the model are replaced with optimization-friendly
# DeGrooteFregly2016Muscles, and adjustments are made to the default muscle
# parameters.
modelProcessor = osim.ModelProcessor('subject_walk_armless.osim')
modelProcessor.append(osim.ModOpAddExternalLoads('grf_walk.xml'))
modelProcessor.append(osim.ModOpIgnoreTendonCompliance())
modelProcessor.append(osim.ModOpReplaceMusclesWithDeGrooteFregly2016())
# Only valid for DeGrooteFregly2016Muscles.
modelProcessor.append(osim.ModOpIgnorePassiveFiberForcesDGF())
# Only valid for DeGrooteFregly2016Muscles.
modelProcessor.append(osim.ModOpScaleActiveFiberForceCurveWidthDGF(1.5))
modelProcessor.append(osim.ModOpAddReserves(1.0))
inverse.setModel(modelProcessor)
# Construct a TableProcessor of the coordinate data and pass it to the
# inverse tool. TableProcessors can be used in the same way as
# ModelProcessors by appending TableOperators to modify the base table.
# A TableProcessor with no operators, as we have here, simply returns the
# base table.
inverse.setKinematics(osim.TableProcessor('coordinates.sto'))
# Initial time, final time, and mesh interval.
inverse.set_initial_time(0.81)
inverse.set_final_time(1.79)
inverse.set_mesh_interval(0.02)
# By default, Moco gives an error if the kinematics contains extra columns.
# Here, we tell Moco to allow (and ignore) those extra columns.
inverse.set_kinematics_allow_extra_columns(True)
# Solve the problem and write the solution to a Storage file.
solution = inverse.solve()
solution.getMocoSolution().write(
'example3DWalking_MocoInverse_solution.sto')
# Generate a PDF with plots for the solution trajectory.
model = modelProcessor.process()
report = osim.report.Report(model,
'example3DWalking_MocoInverse_solution.sto',
bilateral=True)
# The PDF is saved to the working directory.
report.generate()
def getWalkingModel():
# Load the 19 DOF, 18 muscle model from file.
model = osim.Model('subject_walk_armless_18musc.osim');
# Add actuators representing the pelvis residual actuators and lumbar
# torques. These actuators are only as strong as they need to be for the
# problem to converge.
addCoordinateActuator(model, 'pelvis_tx', 60)
addCoordinateActuator(model, 'pelvis_ty', 300)
addCoordinateActuator(model, 'pelvis_tz', 35)
addCoordinateActuator(model, 'pelvis_tilt', 60)
addCoordinateActuator(model, 'pelvis_list', 35)
addCoordinateActuator(model, 'pelvis_rotation', 25)
addCoordinateActuator(model, 'lumbar_bending', 40)
addCoordinateActuator(model, 'lumbar_extension', 40)
addCoordinateActuator(model, 'lumbar_rotation', 25)
# We need additional actuators for hip rotation and hip adduction since the
# existing muscle act primarily in the sagittal plane.
addCoordinateActuator(model, 'hip_rotation_r', 100)
addCoordinateActuator(model, 'hip_rotation_l', 100)
addCoordinateActuator(model, 'hip_adduction_r', 100)
addCoordinateActuator(model, 'hip_adduction_l', 100)
# Create a ModelProcessor to make additional modifications to the model.
modelProcessor = osim.ModelProcessor(model)
# Weld the subtalar and toe joints.
jointsToWeld = osim.StdVectorString()
jointsToWeld.append('subtalar_r')
jointsToWeld.append('subtalar_l')
jointsToWeld.append('mtp_r')
jointsToWeld.append('mtp_l')
modelProcessor.append(osim.ModOpReplaceJointsWithWelds(jointsToWeld))
# Apply the ground reaction forces to the model.
modelProcessor.append(osim.ModOpAddExternalLoads('external_loads.xml'))
# Update the muscles: ignore tendon compliance and passive forces, replace
# muscle types with the DeGrooteFregly2016Muscle type, and scale the width
# of the active force length curve.
modelProcessor.append(osim.ModOpIgnoreTendonCompliance())
modelProcessor.append(osim.ModOpReplaceMusclesWithDeGrooteFregly2016())
modelProcessor.append(osim.ModOpIgnorePassiveFiberForcesDGF())
modelProcessor.append(osim.ModOpScaleActiveFiberForceCurveWidthDGF(1.5))
# Add a set a weak reserves to the sagittal-plane joints in the model.
modelProcessor.append(osim.ModOpAddReserves(1.0))
return modelProcessor
def solveMocoInverseMuscle():
#Construct the MocoInverse tool.
inverse = osim.MocoInverse()
inverse.setName('inverseMuscleTracking')
#Construct a ModelProcessor and set it on the tool.
#Currently the coordinate actuators for the pelvis, along with the reserve
#actuators are fairly generally set, and not weighted at all in cost function.
#These actuators could be more carefully considered to generate an appropriate
#muscle driven simulation. For example, if they max and min control to 1 - the
#pelvis actuators may not produce enough torque.
modelProcessor = osim.ModelProcessor('scaledModelMuscle.osim')
modelProcessor.append(osim.ModOpAddExternalLoads('Jog05_grf.xml'))
modelProcessor.append(osim.ModOpIgnoreTendonCompliance())
modelProcessor.append(osim.ModOpReplaceMusclesWithDeGrooteFregly2016())
# Only valid for DeGrooteFregly2016Muscles.
# modelProcessor.append(osim.ModOpIgnorePassiveFiberForcesDGF())
# Only valid for DeGrooteFregly2016Muscles.
modelProcessor.append(osim.ModOpScaleActiveFiberForceCurveWidthDGF(1.5))
modelProcessor.append(osim.ModOpAddReserves(2))
inverse.setModel(modelProcessor)
#Construct a TableProcessor of the coordinate data and pass it to the
#inverse tool. TableProcessors can be used in the same way as
#ModelProcessors by appending TableOperators to modify the base table.
#A TableProcessor with no operators, as we have here, simply returns the
#base table.
inverse.setKinematics(osim.TableProcessor('ikResults_states.sto'))
#Initial time, final time, and mesh interval.
inverse.set_initial_time(osim.Storage('ikResults_states.sto').getFirstTime())
inverse.set_final_time(osim.Storage('ikResults_states.sto').getLastTime())
inverse.set_mesh_interval(0.02)
# By default, Moco gives an error if the kinematics contains extra columns.
# Here, we tell Moco to allow (and ignore) those extra columns.
inverse.set_kinematics_allow_extra_columns(True)
# Solve the problem and write the solution to a Storage file.
solution = inverse.solve()
#Return the solution as an object that we can use
return solution
def track(self, prediction_solution, exponent=2):
track = osim.MocoTrack()
track.setName('suspended_mass_tracking')
track.setModel(osim.ModelProcessor(self.build_model()))
track.setStatesReference(
osim.TableProcessor(prediction_solution.exportToStatesTable()))
track.set_states_global_tracking_weight(10.0)
track.set_allow_unused_references(True)
# track.set_control_effort_weight(1.0)
track.set_mesh_interval(0.003)
study = track.initialize()
problem = study.updProblem()
problem.setStateInfo("/jointset/tx/tx/value",
[-self.width, self.width], self.xinit)
problem.setStateInfo("/jointset/ty/ty/value", [-2 * self.width, 0],
self.yinit)
problem.setStateInfo("/forceset/left/activation", [0, 1], 0)
problem.setStateInfo("/forceset/middle/activation", [0, 1], 0)
problem.setStateInfo("/forceset/right/activation", [0, 1], 0)
problem.updPhase().setDefaultSpeedBounds(osim.MocoBounds(-15, 15))
tracking = osim.MocoStateTrackingGoal.safeDownCast(
problem.updGoal('state_tracking'))
tracking.setPattern('.*(value|speed)$')
effort = osim.MocoControlGoal.safeDownCast(
problem.updGoal('control_effort'))
effort.setExponent(exponent)
solver = osim.MocoCasADiSolver.safeDownCast(study.updSolver())
solver.set_optim_convergence_tolerance(-1)
solver.set_optim_constraint_tolerance(-1)
solution = study.solve()
return solution
def muscleDrivenStateTracking():
# Create and name an instance of the MocoTrack tool.
track = osim.MocoTrack()
track.setName("muscle_driven_state_tracking")
# Construct a ModelProcessor and set it on the tool. The default
# muscles in the model are replaced with optimization-friendly
# DeGrooteFregly2016Muscles, and adjustments are made to the default muscle
# parameters.
modelProcessor = osim.ModelProcessor("subject_walk_armless.osim")
modelProcessor.append(osim.ModOpAddExternalLoads("grf_walk.xml"))
modelProcessor.append(osim.ModOpIgnoreTendonCompliance())
modelProcessor.append(osim.ModOpReplaceMusclesWithDeGrooteFregly2016())
# Only valid for DeGrooteFregly2016Muscles.
modelProcessor.append(osim.ModOpIgnorePassiveFiberForcesDGF())
# Only valid for DeGrooteFregly2016Muscles.
modelProcessor.append(osim.ModOpScaleActiveFiberForceCurveWidthDGF(1.5))
track.setModel(modelProcessor)
# Construct a TableProcessor of the coordinate data and pass it to the
# tracking tool. TableProcessors can be used in the same way as
# ModelProcessors by appending TableOperators to modify the base table.
# A TableProcessor with no operators, as we have here, simply returns the
# base table.
track.setStatesReference(osim.TableProcessor("coordinates.sto"))
track.set_states_global_tracking_weight(10)
# This setting allows extra data columns contained in the states
# reference that don't correspond to model coordinates.
track.set_allow_unused_references(True)
# Since there is only coordinate position data in the states references,
# this setting is enabled to fill in the missing coordinate speed data using
# the derivative of splined position data.
track.set_track_reference_position_derivatives(True)
# Initial time, final time, and mesh interval.
track.set_initial_time(0.81)
track.set_final_time(1.65)
track.set_mesh_interval(0.08)
# Instead of calling solve(), call initialize() to receive a pre-configured
# MocoStudy object based on the settings above. Use this to customize the
# problem beyond the MocoTrack interface.
study = track.initialize()
# Get a reference to the MocoControlCost that is added to every MocoTrack
# problem by default.
problem = study.updProblem()
effort = osim.MocoControlGoal.safeDownCast(
problem.updGoal("control_effort"))
# Put a large weight on the pelvis CoordinateActuators, which act as the
# residual, or 'hand-of-god', forces which we would like to keep as small
# as possible.
model = modelProcessor.process()
model.initSystem()
forceSet = model.getForceSet()
for i in range(forceSet.getSize()):
forcePath = forceSet.get(i).getAbsolutePathString()
if 'pelvis' in str(forcePath):
effort.setWeightForControl(forcePath, 10)
# Solve and visualize.
solution = study.solve()
study.visualize(solution)
def torqueDrivenMarkerTracking():
# Create and name an instance of the MocoTrack tool.
track = osim.MocoTrack()
track.setName("torque_driven_marker_tracking")
# Construct a ModelProcessor and add it to the tool. ModelProcessors
# accept a base model and allow you to easily modify the model by appending
# ModelOperators. Operations are performed in the order that they are
# appended to the model.
# Create the base Model by passing in the model file.
modelProcessor = osim.ModelProcessor("subject_walk_armless.osim")
# Add ground reaction external loads in lieu of a ground-contact model.
modelProcessor.append(osim.ModOpAddExternalLoads("grf_walk.xml"))
# Remove all the muscles in the model's ForceSet.
modelProcessor.append(osim.ModOpRemoveMuscles())
# Add CoordinateActuators to the model degrees-of-freedom. This ignores the
# pelvis coordinates which already have residual CoordinateActuators.
modelProcessor.append(osim.ModOpAddReserves(250))
track.setModel(modelProcessor)
# Use this convenience function to set the MocoTrack markers reference
# directly from a TRC file. By default, the markers data is filtered at
# 6 Hz and if in millimeters, converted to meters.
track.setMarkersReferenceFromTRC("marker_trajectories.trc")
# There is marker data in the 'marker_trajectories.trc' associated with
# model markers that no longer exists (i.e. markers on the arms). Set this
# flag to avoid an exception from being thrown.
track.set_allow_unused_references(True)
# Increase the global marker tracking weight, which is the weight
# associated with the internal MocoMarkerTrackingCost term.
track.set_markers_global_tracking_weight(10)
# Increase the tracking weights for individual markers in the data set
# placed on bony landmarks compared to markers located on soft tissue.
markerWeights = osim.MocoWeightSet()
markerWeights.cloneAndAppend(osim.MocoWeight("R.ASIS", 20))
markerWeights.cloneAndAppend(osim.MocoWeight("L.ASIS", 20))
markerWeights.cloneAndAppend(osim.MocoWeight("R.PSIS", 20))
markerWeights.cloneAndAppend(osim.MocoWeight("L.PSIS", 20))
markerWeights.cloneAndAppend(osim.MocoWeight("R.Knee", 10))
markerWeights.cloneAndAppend(osim.MocoWeight("R.Ankle", 10))
markerWeights.cloneAndAppend(osim.MocoWeight("R.Heel", 10))
markerWeights.cloneAndAppend(osim.MocoWeight("R.MT5", 5))
markerWeights.cloneAndAppend(osim.MocoWeight("R.Toe", 2))
markerWeights.cloneAndAppend(osim.MocoWeight("L.Knee", 10))
markerWeights.cloneAndAppend(osim.MocoWeight("L.Ankle", 10))
markerWeights.cloneAndAppend(osim.MocoWeight("L.Heel", 10))
markerWeights.cloneAndAppend(osim.MocoWeight("L.MT5", 5))
markerWeights.cloneAndAppend(osim.MocoWeight("L.Toe", 2))
track.set_markers_weight_set(markerWeights)
# Initial time, final time, and mesh interval. The number of mesh points
# used to discretize the problem is computed internally using these values.
track.set_initial_time(0.81)
track.set_final_time(1.65)
track.set_mesh_interval(0.05)
# Solve! Use track.solve() to skip visualizing.
solution = track.solveAndVisualize()
osimHelper.addCoordinateActuator(osimModel, coordName, 1.0,
[1.0, -1.0], '_reserve')
#Finalise model
osimModel.finalizeFromProperties()
#Something weird going on later if I try and call the model processor directly
#from the model object here (says the model has no subcomponents?). A workaround
#is to process print out the model and call it to the processor via its filename,
#and then get a variable to call the processed model.
#Print out the edited model
osimModel.printToXML('simModel.osim')
#Set up a model processor to configure model
modelProcessor = osim.ModelProcessor('simModel.osim')
#Convert model muscles to DeGrooteFregly type
modelProcessor.append(osim.ModOpReplaceMusclesWithDeGrooteFregly2016())
#Append settings for muscle models
#Set to ignore tendon compliance
modelProcessor.append(osim.ModOpIgnoreTendonCompliance())
#Set to ignore conservative passive fiber forces
modelProcessor.append(osim.ModOpIgnorePassiveFiberForcesDGF())
#Set the fiber damping low to limit non-conservative passive forces
#This may also serve to limit the negative muscle forces that can happen
modelProcessor.append(osim.ModOpFiberDampingDGF(1e-02))
####### this parameter could be a factor in the different results coming up
####### along with te active force width (if that didn't change). default is 0.1
trackingSolution = study.solve()
trackingSolution.write('trackingSolution.sto')
study.visualize(trackingSolution)
## Part 3: Compare Predictive and Tracking Solutions
# This is a convenience function provided for you. See mocoPlotTrajectory.m
plot.mocoPlotTrajectory('predictSolution.sto', 'trackingSolution.sto',
'predict', 'track')
## Part 4: Muscle-driven Inverse Problem
# Create a MocoInverse tool instance.
inverse = osim.MocoInverse()
# Part 4a: Provide the model via a ModelProcessor. Similar to the TableProcessor,
# you can add operators to modify the base model.
modelProcessor = osim.ModelProcessor(muscleDrivenModel)
modelProcessor.append(osim.ModOpAddReserves(2))
inverse.setModel(modelProcessor)
# Part 4b: Set the reference kinematics using the same TableProcessor we used
# in the tracking problem.
inverse.setKinematics(tableProcessor)
# Part 4c: Set the time range, mesh interval, and convergence tolerance.
inverse.set_initial_time(0)
inverse.set_final_time(1)
inverse.set_mesh_interval(0.05)
inverse.set_convergence_tolerance(1e-4)
inverse.set_constraint_tolerance(1e-4)
# Allow extra (unused) columns in the kinematics and minimize activations.
def create_model_processor(self, root_dir, for_inverse=False, config=None):
flags = []
if config:
flags = config.flags
model = osim.Model(os.path.join(root_dir,
'resources/Rajagopal2016/'
'subject_walk_armless_contact_bounded_80musc.osim'))
# for imusc in range(model.getMuscles().getSize()):
# musc = model.updMuscles().get(imusc)
# musc = osim.Millard2012EquilibriumMuscle.safeDownCast(musc)
# musc.upd_FiberForceLengthCurve().set_strain_at_one_norm_force(
# 3.0)
# for muscle in ['vasmed', 'vasint', 'vaslat', 'recfem', 'semimem',
# 'semiten']:
# for side in ['_l', '_r']:
# musc = model.updMuscles().get('%s%s' % (muscle, side))
# musc = osim.Millard2012EquilibriumMuscle.safeDownCast(musc)
# musc.upd_FiberForceLengthCurve().set_strain_at_one_norm_force(
# 3.5)
if for_inverse:
forceSet = model.getForceSet()
numContacts = 0
for i in np.arange(forceSet.getSize()):
forceName = forceSet.get(int(i)).getName()
if 'contact' in forceName: numContacts += 1
print('Removing contact force elements from model...')
contactsRemoved = 0
while contactsRemoved < numContacts:
for i in np.arange(forceSet.getSize()):
forceName = forceSet.get(int(i)).getName()
if 'contact' in forceName:
print(' --> removed', forceSet.get(int(i)).getName())
forceSet.remove(int(i))
contactsRemoved += 1
break
stiffnessModifier = 0.8
print(f'Modifying contact element stiffnesses by factor {stiffnessModifier}...')
for actu in model.getComponentsList():
if actu.getConcreteClassName() == 'SmoothSphereHalfSpaceForce':
force = osim.SmoothSphereHalfSpaceForce.safeDownCast(actu)
force.set_stiffness(stiffnessModifier * force.get_stiffness())
print(f' --> modified contact element {force.getName()}')
def add_reserve(model, coord, optimal_force, max_control):
actu = osim.ActivationCoordinateActuator()
actu.set_coordinate(coord)
if coord.startswith('pelvis'):
prefix = 'residual_'
elif coord.startswith('lumbar'):
prefix = 'torque_'
else:
prefix = 'reserve_'
actu.setName(prefix + coord)
actu.setOptimalForce(optimal_force)
actu.setMinControl(-max_control)
actu.setMaxControl(max_control)
model.addForce(actu)
add_reserve(model, 'lumbar_extension', 1, 50)
add_reserve(model, 'lumbar_bending', 1, 50)
add_reserve(model, 'lumbar_rotation', 1, 50)
reserves_max = 250 if for_inverse else 1
add_reserve(model, 'pelvis_tilt', 1, reserves_max)
add_reserve(model, 'pelvis_list', 1, reserves_max)
add_reserve(model, 'pelvis_rotation', 1, reserves_max)
add_reserve(model, 'pelvis_tx', 1, reserves_max)
add_reserve(model, 'pelvis_ty', 1, reserves_max)
add_reserve(model, 'pelvis_tz', 1, reserves_max)
optimal_force = 0.1
add_reserve(model, 'hip_flexion_r', optimal_force, reserves_max)
add_reserve(model, 'hip_adduction_r', optimal_force, reserves_max)
add_reserve(model, 'hip_rotation_r', optimal_force, reserves_max)
add_reserve(model, 'knee_angle_r', optimal_force, reserves_max)
add_reserve(model, 'ankle_angle_r', optimal_force, reserves_max)
add_reserve(model, 'hip_flexion_l', optimal_force, reserves_max)
add_reserve(model, 'hip_adduction_l', optimal_force, reserves_max)
add_reserve(model, 'hip_rotation_l', optimal_force, reserves_max)
add_reserve(model, 'knee_angle_l', optimal_force, reserves_max)
add_reserve(model, 'ankle_angle_l', optimal_force, reserves_max)
def add_device(model, coord):
actu = osim.ActivationCoordinateActuator()
actu.set_coordinate(coord)
actu.setName(f'device_{coord}')
actu.setOptimalForce(1000.0)
actu.setMinControl(-1.0)
actu.setMaxControl(1.0)
model.addForce(actu)
if 'assistankle' in flags:
add_device(model, 'ankle_angle_r')
add_device(model, 'ankle_angle_l')
if 'weaksoleus' in flags:
soleus_r = model.updMuscles().get('soleus_r')
soleus_r.set_max_isometric_force(
0.25 * soleus_r.get_max_isometric_force())
soleus_l = model.updMuscles().get('soleus_l')
soleus_l.set_max_isometric_force(
0.25 * soleus_l.get_max_isometric_force())
if 'weakvasti' in flags:
for muscle in ['vasmed', 'vasint', 'vaslat']:
for side in ['_l', '_r']:
musc = model.updMuscles().get('%s%s' % (muscle, side))
musc.set_max_isometric_force(
0.10 * musc.get_max_isometric_force())
if 'trendelenburg-lite' in flags:
for muscle in ['glmin1','glmin2','glmin3','glmed1','glmed2','glmed3',
'glmax1','glmax2','glmax3','addbrev', 'addlong', 'addmagDist',
'addmagIsch', 'addmagMid', 'addmagProx', 'piri', 'bflh',
'sart', 'grac']:
for side in ['_l', '_r']:
musc = model.updMuscles().get('%s%s' % (muscle, side))
musc.set_max_isometric_force(
0.10 * musc.get_max_isometric_force())
if 'trendelenburg' in flags:
for muscle in ['glmin1','glmin2','glmin3','glmed1','glmed2','glmed3',
'glmax1','glmax2','glmax3','addbrev', 'addlong', 'addmagDist',
'addmagIsch', 'addmagMid', 'addmagProx', 'iliacus', 'psoas',
'piri', 'grac', 'bflh', 'recfem', 'sart', 'semimem',
'semiten', 'tfl']:
for side in ['_l', '_r']:
musc = model.updMuscles().get('%s%s' % (muscle, side))
musc.set_max_isometric_force(
0.10 * musc.get_max_isometric_force())
if 'weakpfs' in flags:
for muscle in ['soleus', 'gasmed', 'gaslat', 'perbrev', 'perlong',
'tibpost', 'fdl', 'fhl']:
for side in ['_l', '_r']:
musc = model.updMuscles().get('%s%s' % (muscle, side))
musc.set_max_isometric_force(
0.10 * musc.get_max_isometric_force())
modelProcessor = osim.ModelProcessor(model)
modelProcessor.append(osim.ModOpReplaceJointsWithWelds(
['subtalar_r', 'mtp_r', 'subtalar_l', 'mtp_l']))
modelProcessor.append(osim.ModOpReplaceMusclesWithDeGrooteFregly2016())
modelProcessor.append(osim.ModOpIgnoreTendonCompliance())
# modelProcessor.append(osim.ModOpPassiveFiberStrainAtOneNormForceDGF(4.0))
modelProcessor.append(osim.ModOpIgnorePassiveFiberForcesDGF())
# modelProcessor.append(osim.ModOpFiberDampingDGF(0.001))
if for_inverse:
ext_loads_xml = os.path.join(root_dir,
'resources/Rajagopal2016/grf_walk.xml')
modelProcessor.append(osim.ModOpAddExternalLoads(ext_loads_xml))
model = modelProcessor.process()
model.initSystem()
muscles = model.updMuscles()
for imusc in np.arange(muscles.getSize()):
muscle = muscles.get(int(imusc))
if 'gas' in muscle.getName() or 'soleus' in muscle.getName():
muscle.set_ignore_tendon_compliance(False)
modelProcessorTendonCompliance = osim.ModelProcessor(model)
modelProcessorTendonCompliance.append(
osim.ModOpUseImplicitTendonComplianceDynamicsDGF())
return modelProcessorTendonCompliance
def solveMocoInverseWithEMG():
# This initial block of code is identical to the code above.
inverse = osim.MocoInverse()
modelProcessor = osim.ModelProcessor('subject_walk_armless.osim')
modelProcessor.append(osim.ModOpAddExternalLoads('grf_walk.xml'))
modelProcessor.append(osim.ModOpIgnoreTendonCompliance())
modelProcessor.append(osim.ModOpReplaceMusclesWithDeGrooteFregly2016())
modelProcessor.append(osim.ModOpIgnorePassiveFiberForcesDGF())
modelProcessor.append(osim.ModOpScaleActiveFiberForceCurveWidthDGF(1.5))
modelProcessor.append(osim.ModOpAddReserves(1.0))
inverse.setModel(modelProcessor)
inverse.setKinematics(osim.TableProcessor('coordinates.sto'))
inverse.set_initial_time(0.81)
inverse.set_final_time(1.79)
inverse.set_mesh_interval(0.02)
inverse.set_kinematics_allow_extra_columns(True)
study = inverse.initialize()
problem = study.updProblem()
# Add electromyography tracking.
emgTracking = osim.MocoControlTrackingGoal('emg_tracking')
emgTracking.setWeight(50.0)
# Each column in electromyography.sto is normalized so the maximum value in
# each column is 1.0.
controlsRef = osim.TimeSeriesTable('electromyography.sto')
# Scale the tracked muscle activity based on peak levels from
# "Gait Analysis: Normal and Pathological Function" by
# Perry and Burnfield, 2010 (digitized by Carmichael Ong).
soleus = controlsRef.updDependentColumn('soleus')
gasmed = controlsRef.updDependentColumn('gastrocnemius')
tibant = controlsRef.updDependentColumn('tibialis_anterior')
for t in range(0, controlsRef.getNumRows()):
soleus[t] = 0.77 * soleus[t]
gasmed[t] = 0.87 * gasmed[t]
tibant[t] = 0.37 * tibant[t]
emgTracking.setReference(osim.TableProcessor(controlsRef))
# Associate actuators in the model with columns in electromyography.sto.
emgTracking.setReferenceLabel('/forceset/soleus_r', 'soleus')
emgTracking.setReferenceLabel('/forceset/gasmed_r', 'gastrocnemius')
emgTracking.setReferenceLabel('/forceset/gaslat_r', 'gastrocnemius')
emgTracking.setReferenceLabel('/forceset/tibant_r', 'tibialis_anterior')
problem.addGoal(emgTracking)
# Solve the problem and write the solution to a Storage file.
solution = study.solve()
solution.write('example3DWalking_MocoInverseWithEMG_solution.sto')
# Write the reference data in a way that's easy to compare to the solution.
controlsRef.removeColumn('medial_hamstrings')
controlsRef.removeColumn('biceps_femoris')
controlsRef.removeColumn('vastus_lateralis')
controlsRef.removeColumn('vastus_medius')
controlsRef.removeColumn('rectus_femoris')
controlsRef.removeColumn('gluteus_maximus')
controlsRef.removeColumn('gluteus_medius')
controlsRef.setColumnLabels(
['/forceset/soleus_r', '/forceset/gasmed_r', '/forceset/tibant_r'])
controlsRef.appendColumn('/forceset/gaslat_r', gasmed)
osim.STOFileAdapter.write(controlsRef, 'controls_reference.sto')
# Generate a report comparing MocoInverse solutions without and with EMG
# tracking.
model = modelProcessor.process()
output = 'example3DWalking_MocoInverseWithEMG_report.pdf'
ref_files = [
'example3DWalking_MocoInverseWithEMG_solution.sto',
'controls_reference.sto'
]
report = osim.report.Report(model,
'example3DWalking_MocoInverse_solution.sto',
output=output,
bilateral=True,
ref_files=ref_files)
# The PDF is saved to the working directory.
report.generate()
def create_model_processor(self, root_dir):
# Create base model without reserves.
model = osim.Model(os.path.join(root_dir,
'resources/Rajagopal2016/'
'subject_walk_contact_bounded_80musc.osim'))
forceSet = model.getForceSet()
numContacts = 0
for i in np.arange(forceSet.getSize()):
forceName = forceSet.get(int(i)).getName()
if 'contact' in forceName: numContacts += 1
print('Removing contact force elements from model...')
contactsRemoved = 0
while contactsRemoved < numContacts:
for i in np.arange(forceSet.getSize()):
forceName = forceSet.get(int(i)).getName()
if 'contact' in forceName:
print(' --> removed', forceSet.get(int(i)).getName())
forceSet.remove(int(i))
contactsRemoved += 1
break
modelProcessor = osim.ModelProcessor(model)
modelProcessor.append(osim.ModOpReplaceJointsWithWelds(
['subtalar_r', 'mtp_r', 'subtalar_l', 'mtp_l', 'radius_hand_r',
'radius_hand_l']))
modelProcessor.append(osim.ModOpReplaceMusclesWithDeGrooteFregly2016())
modelProcessor.append(osim.ModOpIgnorePassiveFiberForcesDGF())
modelProcessor.append(osim.ModOpIgnoreTendonCompliance())
modelProcessor.append(osim.ModOpFiberDampingDGF(0))
baseModel = modelProcessor.process()
# Create model for CMC
modelProcessorCMC = osim.ModelProcessor(baseModel)
modelProcessorCMC.append(osim.ModOpAddReserves(1))
cmcModel = modelProcessorCMC.process()
tasks = osim.CMC_TaskSet()
for coord in cmcModel.getCoordinateSet():
cname = coord.getName()
if cname.endswith('_beta'):
continue
task = osim.CMC_Joint()
task.setName(cname)
task.setCoordinateName(cname)
task.setKP(100, 1, 1)
task.setKV(20, 1, 1)
task.setActive(True, False, False)
tasks.cloneAndAppend(task)
tasks.printToXML(
os.path.join(root_dir, 'code',
'motion_prescribed_walking_cmc_tasks.xml'))
cmcModel.printToXML(os.path.join(root_dir, 'resources/Rajagopal2016/'
'subject_walk_for_cmc.osim'))
# Create direct collocation model:
# - TODO reserves
# - implicit tendon compliance mode
# - add external loads
def add_reserve(model, coord, max_control):
actu = osim.CoordinateActuator(coord)
if coord.startswith('lumbar'):
prefix = 'torque_'
elif coord.startswith('pelvis'):
prefix = 'residual_'
else:
prefix = 'reserve_'
actu.setName(prefix + coord)
actu.setMinControl(-1)
actu.setMaxControl(1)
actu.setOptimalForce(max_control)
model.addForce(actu)
add_reserve(baseModel, 'lumbar_extension', 50)
add_reserve(baseModel, 'lumbar_bending', 50)
add_reserve(baseModel, 'lumbar_rotation', 20)
for side in ['_l', '_r']:
add_reserve(baseModel, f'arm_flex{side}', 15)
add_reserve(baseModel, f'arm_add{side}', 15)
add_reserve(baseModel, f'arm_rot{side}', 5)
add_reserve(baseModel, f'elbow_flex{side}', 5)
add_reserve(baseModel, f'pro_sup{side}', 1)
add_reserve(baseModel, f'hip_rotation{side}', 0.5)
add_reserve(baseModel, 'pelvis_tilt', 60)
add_reserve(baseModel, 'pelvis_list', 30)
add_reserve(baseModel, 'pelvis_rotation', 15)
add_reserve(baseModel, 'pelvis_tx', 100)
add_reserve(baseModel, 'pelvis_ty', 200)
add_reserve(baseModel, 'pelvis_tz', 35)
baseModel.initSystem()
muscles = baseModel.updMuscles()
for imusc in np.arange(muscles.getSize()):
muscle = muscles.get(int(imusc))
if 'gas' in muscle.getName() or 'soleus' in muscle.getName():
muscle.set_ignore_tendon_compliance(False)
modelProcessorDC = osim.ModelProcessor(baseModel)
modelProcessorDC.append(osim.ModOpFiberDampingDGF(0.01))
modelProcessorDC.append(osim.ModOpAddReserves(1, 2.5, True))
modelProcessorDC.append(
osim.ModOpTendonComplianceDynamicsModeDGF('implicit'))
ext_loads_xml = os.path.join(root_dir,
"resources/Rajagopal2016/grf_walk.xml")
modelProcessorDC.append(osim.ModOpAddExternalLoads(ext_loads_xml))
return modelProcessorDC
def muscleDrivenStateTracking():
#Create and name an instance of the MocoTrack tool.
track = osim.MocoTrack()
track.setName('muscleDrivenStateTracking')
#Construct a ModelProcessor and set it on the tool.
#Currently the coordinate actuators for the pelvis, along with the reserve
#actuators are fairly generally set, and not weighted at all in cost function.
#These actuators could be more carefully considered to generate an appropriate
#muscle driven simulation. For example, if they max and min control to 1 - the
#pelvis actuators may not produce enough torque.
modelProcessor = osim.ModelProcessor('scaledModelMuscle.osim')
modelProcessor.append(osim.ModOpAddExternalLoads('Jog05_grf.xml'))
modelProcessor.append(osim.ModOpIgnoreTendonCompliance())
modelProcessor.append(osim.ModOpReplaceMusclesWithDeGrooteFregly2016())
# Only valid for DeGrooteFregly2016Muscles.
modelProcessor.append(osim.ModOpIgnorePassiveFiberForcesDGF())
# Only valid for DeGrooteFregly2016Muscles.
modelProcessor.append(osim.ModOpScaleActiveFiberForceCurveWidthDGF(1.5))
modelProcessor.append(osim.ModOpAddReserves(2))
track.setModel(modelProcessor)
#Construct a TableProcessor of the coordinate data and pass it to the
#tracking tool. TableProcessors can be used in the same way as
#ModelProcessors by appending TableOperators to modify the base table.
#A TableProcessor with no operators, as we have here, simply returns the
#base table.
track.setStatesReference(osim.TableProcessor('ikResults_states.sto'))
track.set_states_global_tracking_weight(5)
##### TODO: add more specific weights for different state coordinates like in RRA
#This setting allows extra data columns contained in the states
#reference that don't correspond to model coordinates.
track.set_allow_unused_references(True)
# Since there is only coordinate position data the states references, this
# setting is enabled to fill in the missing coordinate speed data using
# the derivative of splined position data.
track.set_track_reference_position_derivatives(True)
# Initial time, final time, and mesh interval.
track.set_initial_time(osim.Storage('ikResults_states.sto').getFirstTime())
track.set_final_time(osim.Storage('ikResults_states.sto').getLastTime())
track.set_mesh_interval(0.08)
#Instead of calling solve(), call initialize() to receive a pre-configured
#MocoStudy object based on the settings above. Use this to customize the
#problem beyond the MocoTrack interface.
study = track.initialize()
#Get a reference to the MocoControlCost that is added to every MocoTrack
#problem by default.
problem = study.updProblem()
effort = osim.MocoControlGoal.safeDownCast(problem.updGoal('control_effort'))
effort.setWeight(1)
# # Put a large weight on the pelvis CoordinateActuators, which act as the
# # residual, or 'hand-of-god', forces which we would like to keep as small
# # as possible.
# model = modelProcessor.process()
# model.initSystem()
# forceSet = model.getForceSet()
# for ii in range(forceSet.getSize()):
# forcePath = forceSet.get(ii).getAbsolutePathString()
# if 'pelvis' in str(forcePath):
# effort.setWeightForControl(forcePath, 10)
#Get solver and set the mesh interval
solver = study.initCasADiSolver()
#50 mesh intervals for half gait cycle recommended, keep smaller for now
#19 will produce the same as inverse solution above
# solver.set_num_mesh_intervals(19)
#Set solver parameters
solver.set_optim_constraint_tolerance(1e-3)
solver.set_optim_convergence_tolerance(1e-3)
# Solve and visualize.
solution = study.solve()
#Return the solution as an object that we can use
return solution
def torqueDrivenStateTracking():
#Create and name an instance of the MocoTrack tool.
track = osim.MocoTrack()
track.setName('torqueDrivenStateTracking')
#Construct a ModelProcessor and set it on the tool. Remove the muscles and
#add reserve actuators
modelProcessor = osim.ModelProcessor('scaledModelMuscle.osim')
modelProcessor.append(osim.ModOpAddExternalLoads('Jog05_grf.xml'))
modelProcessor.append(osim.ModOpRemoveMuscles())
modelProcessor.append(osim.ModOpAddReserves(300))
track.setModel(modelProcessor)
#Construct a TableProcessor of the coordinate data and pass it to the
#tracking tool. TableProcessors can be used in the same way as
#ModelProcessors by appending TableOperators to modify the base table.
#A TableProcessor with no operators, as we have here, simply returns the
#base table.
track.setStatesReference(osim.TableProcessor('ikResults_states.sto'))
track.set_states_global_tracking_weight(5)
##### TODO: add more specific weights for different state coordinates like in RRA
#This setting allows extra data columns contained in the states
#reference that don't correspond to model coordinates.
track.set_allow_unused_references(True)
# Since there is only coordinate position data the states references, this
# setting is enabled to fill in the missing coordinate speed data using
# the derivative of splined position data.
track.set_track_reference_position_derivatives(True)
# Initial time, final time, and mesh interval.
track.set_initial_time(osim.Storage('ikResults_states.sto').getFirstTime())
track.set_final_time(osim.Storage('ikResults_states.sto').getLastTime())
track.set_mesh_interval(0.08)
#Instead of calling solve(), call initialize() to receive a pre-configured
#MocoStudy object based on the settings above. Use this to customize the
#problem beyond the MocoTrack interface.
study = track.initialize()
#Get a reference to the MocoControlCost that is added to every MocoTrack
#problem by default.
problem = study.updProblem()
effort = osim.MocoControlGoal.safeDownCast(problem.updGoal('control_effort'))
effort.setWeight(1)
# # Put a large weight on the pelvis CoordinateActuators, which act as the
# # residual, or 'hand-of-god', forces which we would like to keep as small
# # as possible.
# model = modelProcessor.process()
# model.initSystem()
# forceSet = model.getForceSet()
# for ii in range(forceSet.getSize()):
# forcePath = forceSet.get(ii).getAbsolutePathString()
# if 'pelvis' in str(forcePath):
# effort.setWeightForControl(forcePath, 10)
#Get solver and set the mesh interval
solver = study.initCasADiSolver()
#50 mesh intervals for half gait cycle recommended, keep smaller for now
#19 will produce the same as inverse solution above
# solver.set_num_mesh_intervals(19)
#Set solver parameters
solver.set_optim_constraint_tolerance(1e-3)
solver.set_optim_convergence_tolerance(1e-3)
#Set guess from inverse solution using the convenience function to transfer
#an inverse solution to a solver guess
osimHelper.inverseSolutionToTrackGuess(guessFile = 'inverseTorqueSolution_fromIK.sto',
mocoSolver = solver)
# Solve and visualize.
solution = study.solve()
#Return the solution as an object that we can use
return solution
# for ii in range(0,trackModel.updForceSet().getSize()-1):
# #Get current force name
# currForce = trackModel.updForceSet().get(ii).getName()
# #Turn off if a contact element
# if 'contact' in currForce:
# trackModel.updForceSet().get(ii).set_appliesForce(False)
##### TODO: keep the spheres, but these haven't been adjusted yet...
# #Finalize
# trackModel.finalizeConnections()
# Construct a ModelProcessor and set it on the tool. The default
# muscles in the model are replaced with optimization-friendly
# DeGrooteFregly2016Muscles, and adjustments are made to the default muscle
# parameters.
modelProcessor = osim.ModelProcessor("scaledModelAdjusted.osim")
modelProcessor.append(osim.ModOpAddExternalLoads("Jog05_grf.xml"))
# modelProcessor.append(osim.ModOpIgnoreTendonCompliance())
# modelProcessor.append(osim.ModOpReplaceMusclesWithDeGrooteFregly2016())
#Remove all the muscles in the model's ForceSet.
modelProcessor.append(osim.ModOpRemoveMuscles())
# Only valid for DeGrooteFregly2016Muscles.
# modelProcessor.append(osim.ModOpIgnorePassiveFiberForcesDGF())
# Only valid for DeGrooteFregly2016Muscles.
# modelProcessor.append(osim.ModOpScaleActiveFiberForceCurveWidthDGF(1.5))
#Add reserves
modelProcessor.append(osim.ModOpAddReserves(300))
track.setModel(modelProcessor)
# Construct a TableProcessor of the coordinate data and pass it to the
# tracking tool. TableProcessors can be used in the same way as