# Motion Model motion_model = MotionModel(0.58, 1) # Tile for plotting independent_1 = np.tile(frequency, (len(duty_cycle), 1)) independent_1 = np.transpose(independent_1) independent_2 = np.tile(duty_cycle, (len(frequency), 1)) # Metrics rmse_ankle_angle = [] above_0 = [] rmse_toe_height = [] for i in range(len(independent_1)): for j in range(len(independent_1[0])): motion_model.set_activation(frequency[i], duty_cycle[j], scaling, non_linearity, shape) motion_model.simulate(mode="rk45") rmse_ankle_angle.append(motion_model.compare_ankle_angle()) above_0.append(motion_model.compare_toe_height()[0]) rmse_toe_height.append(motion_model.compare_toe_height()[1]) rmse_ankle_angle = np.array(rmse_ankle_angle) above_0 = np.array(above_0) rmse_toe_height = np.array(rmse_toe_height) rmse_ankle_angle_plot = np.reshape( rmse_ankle_angle, (len(independent_1), len(independent_1[0]))) above_0_plot = np.reshape(above_0, (len(independent_1), len(independent_1[0]))) rmse_toe_height_plot = np.reshape( rmse_toe_height, (len(independent_1), len(independent_1[0])))
# Motion Model motion_model = MotionModel(0.58, 1) # Tile for plotting independent_1 = np.tile(non_linearity, (len(shape_), 1)) independent_1 = np.transpose(independent_1) independent_2 = np.tile(shape_, (len(non_linearity), 1)) # Metrics rmse_ankle_angle = [] above_0 = [] rmse_toe_height = [] for i in range(len(independent_1)): for j in range(len(independent_1[0])): motion_model.set_activation(frequency, duty_cycle, scaling, non_linearity[i], shape[shape_[j]]) motion_model.simulate(mode="rk45") rmse_ankle_angle.append(motion_model.compare_ankle_angle()) above_0.append(motion_model.compare_toe_height()[0]) rmse_toe_height.append(motion_model.compare_toe_height()[1]) rmse_ankle_angle = np.array(rmse_ankle_angle) above_0 = np.array(above_0) rmse_toe_height = np.array(rmse_toe_height) rmse_ankle_angle_plot = np.reshape( rmse_ankle_angle, (len(independent_1), len(independent_1[0]))) above_0_plot = np.reshape(above_0, (len(independent_1), len(independent_1[0]))) rmse_toe_height_plot = np.reshape( rmse_toe_height, (len(independent_1), len(independent_1[0])))