# ================
moco = osim.MocoStudy()
moco.setName('oscillator_spring_stiffness')
# Define the optimal control problem.
# ===================================
problem = moco.updProblem()
# Model (dynamics).
# -----------------
problem.setModel(model)
# Bounds.
# -------
# Initial time must be 0, final time is finalTime.
problem.setTimeBounds(osim.MocoInitialBounds(0.),
osim.MocoFinalBounds(finalTime))
# Position must be within [-5, 5] throughout the motion.
# Initial position must be -0.5, final position must be within [0.25, 0.75].
problem.setStateInfo('/slider/position/value', osim.MocoBounds(-5., 5.),
osim.MocoInitialBounds(-0.5),
osim.MocoFinalBounds(0.25, 0.75))
# Speed must be within [-20, 20] throughout the motion.
# Initial and final speed must be 0. Use compact syntax.
problem.setStateInfo('/slider/position/speed', [-20, 20], [0], [0])
# Add Parameter. The default initial guess for a parameter is the midpoint of
# its bounds, *not* the value of a property in the model.
problem.addParameter(
problem.setModel(simModel)
#Navigate to guess directory
os.chdir('..\\GuessFiles')
#Set guess path
guessPath = os.getcwd()
#Set time bounds on the problem
##### NOTE: first iteration with end time bounds seemed to try and solve to the
##### the final end time bound (i.e. 1.0) rather than as fast as possible. Test
##### and see whether removing these fixes it.
# Set to a percentage of the final guess time to end
timeLB = 0.9 * osim.Storage(taskName + '_StartingGuess.sto').getLastTime()
timeUB = 1.1 * osim.Storage(taskName + '_StartingGuess.sto').getLastTime()
problem.setTimeBounds(osim.MocoInitialBounds(0.0),
osim.MocoFinalBounds(timeLB, timeUB))
# problem.setTimeBounds(0,[])
#Define marker end point goals
osimHelper.addMarkerEndPoints(taskName, problem, simModel)
#Define kinematic task bounds
osimHelper.addTaskBounds(taskName, problem, simModel, taskBoundsElv,
taskBoundsRot, taskBoundsAng)
#Add a control cost to the problem
problem.addGoal(osim.MocoControlGoal('effort', 1))
#Add a final time goal to the problem
problem.addGoal(osim.MocoFinalTimeGoal('time', 1))
# ================
study = osim.MocoStudy()
study.setName('sliding_mass')
# Define the optimal control problem.
# ===================================
problem = study.updProblem()
# Model (dynamics).
# -----------------
problem.setModel(model)
# Bounds.
# -------
# Initial time must be 0, final time can be within [0, 5].
problem.setTimeBounds(osim.MocoInitialBounds(0.), osim.MocoFinalBounds(0., 5.))
# Position must be within [-5, 5] throughout the motion.
# Initial position must be 0, final position must be 1.
problem.setStateInfo('/slider/position/value', osim.MocoBounds(-5, 5),
osim.MocoInitialBounds(0), osim.MocoFinalBounds(1))
# Speed must be within [-50, 50] throughout the motion.
# Initial and final speed must be 0. Use compact syntax.
problem.setStateInfo('/slider/position/speed', [-50, 50], [0], [0])
# Applied force must be between -50 and 50.
problem.setControlInfo('/actuator', osim.MocoBounds(-50, 50))
# Cost.
# -----
problem.addGoal(osim.MocoFinalTimeGoal())
solver = moco.initCasADiSolver()
solver.set_num_mesh_points(25)
solver.set_dynamics_mode('implicit')
solver.set_optim_convergence_tolerance(1e-4)
solver.set_optim_constraint_tolerance(1e-4)
solver.set_optim_solver('ipopt')
solver.set_transcription_scheme('hermite-simpson')
solver.set_enforce_constraint_derivatives(True)
solver.set_optim_hessian_approximation('limited-memory')
solver.set_optim_finite_difference_scheme('forward')
#Set bounds on the problem.
problem = moco.updProblem()
#Set the time bounds (from kinematics file)
problem.setTimeBounds(osim.MocoInitialBounds(3.572),
osim.MocoFinalBounds(6.044))
#Set kinematic bounds (mins and maxes)
#Shoulder elevation
charValue = '/jointset/' + coordSet.get('shoulder_elv').getJoint().getName(
) + '/' + coordSet.get('shoulder_elv').getName() + '/value'
charSpeed = '/jointset/' + coordSet.get('shoulder_elv').getJoint().getName(
) + '/' + coordSet.get('shoulder_elv').getName() + '/speed'
mn = coordSet.get('shoulder_elv').getRangeMin()
mx = coordSet.get('shoulder_elv').getRangeMax()
problem.setStateInfo(charValue, osim.MocoBounds(mn, mx))
problem.setStateInfo(charSpeed, osim.MocoBounds(-50, 50))
del (mn, mx, charValue, charSpeed)
def test_bounds(self):
model = osim.Model()
model.setName('sliding_mass')
model.set_gravity(osim.Vec3(0, 0, 0))
body = osim.Body('body', 2.0, osim.Vec3(0), osim.Inertia(0))
model.addComponent(body)
joint = osim.SliderJoint('slider', model.getGround(), body)
coord = joint.updCoordinate()
coord.setName('position')
model.addComponent(joint)
actu = osim.CoordinateActuator()
actu.setCoordinate(coord)
actu.setName('actuator')
actu.setOptimalForce(1)
model.addComponent(actu)
study = osim.MocoStudy()
study.setName('sliding_mass')
mp = study.updProblem()
mp.setModel(model)
ph0 = mp.getPhase()
mp.setTimeBounds(osim.MocoInitialBounds(0.),
osim.MocoFinalBounds(0.1, 5.))
assert ph0.getTimeInitialBounds().getLower() == 0
assert ph0.getTimeInitialBounds().getUpper() == 0
self.assertAlmostEqual(ph0.getTimeFinalBounds().getLower(), 0.1)
self.assertAlmostEqual(ph0.getTimeFinalBounds().getUpper(), 5.0)
mp.setTimeBounds([0.2, 0.3], [3.5])
self.assertAlmostEqual(ph0.getTimeInitialBounds().getLower(), 0.2)
self.assertAlmostEqual(ph0.getTimeInitialBounds().getUpper(), 0.3)
self.assertAlmostEqual(ph0.getTimeFinalBounds().getLower(), 3.5)
self.assertAlmostEqual(ph0.getTimeFinalBounds().getUpper(), 3.5)
# Use setter on MocoPhase.
ph0.setTimeBounds([2.2, 2.3], [4.5])
self.assertAlmostEqual(ph0.getTimeInitialBounds().getLower(), 2.2)
self.assertAlmostEqual(ph0.getTimeInitialBounds().getUpper(), 2.3)
self.assertAlmostEqual(ph0.getTimeFinalBounds().getLower(), 4.5)
self.assertAlmostEqual(ph0.getTimeFinalBounds().getUpper(), 4.5)
mp.setStateInfo('slider/position/value', osim.MocoBounds(-5, 5),
osim.MocoInitialBounds(0))
assert -5 == ph0.getStateInfo(
'slider/position/value').getBounds().getLower()
assert 5 == ph0.getStateInfo(
'slider/position/value').getBounds().getUpper()
assert isnan(
ph0.getStateInfo(
'slider/position/value').getFinalBounds().getLower())
assert isnan(
ph0.getStateInfo(
'slider/position/value').getFinalBounds().getUpper())
mp.setStateInfo('slider/position/speed', [-50, 50], [-3], 1.5)
assert -50 == ph0.getStateInfo(
'slider/position/speed').getBounds().getLower()
assert 50 == ph0.getStateInfo(
'slider/position/speed').getBounds().getUpper()
assert -3 == ph0.getStateInfo(
'slider/position/speed').getInitialBounds().getLower()
assert -3 == ph0.getStateInfo(
'slider/position/speed').getInitialBounds().getUpper()
self.assertAlmostEqual(
1.5,
ph0.getStateInfo(
'slider/position/speed').getFinalBounds().getLower())
self.assertAlmostEqual(
1.5,
ph0.getStateInfo(
'slider/position/speed').getFinalBounds().getUpper())
# Use setter on MocoPhase.
ph0.setStateInfo('slider/position/speed', [-6, 10], [-4, 3], [0])
assert -6 == ph0.getStateInfo(
'slider/position/speed').getBounds().getLower()
assert 10 == ph0.getStateInfo(
'slider/position/speed').getBounds().getUpper()
assert -4 == ph0.getStateInfo(
'slider/position/speed').getInitialBounds().getLower()
assert 3 == ph0.getStateInfo(
'slider/position/speed').getInitialBounds().getUpper()
assert 0 == ph0.getStateInfo(
'slider/position/speed').getFinalBounds().getLower()
assert 0 == ph0.getStateInfo(
'slider/position/speed').getFinalBounds().getUpper()
# Controls.
mp.setControlInfo('actuator', osim.MocoBounds(-50, 50))
assert -50 == ph0.getControlInfo('actuator').getBounds().getLower()
assert 50 == ph0.getControlInfo('actuator').getBounds().getUpper()
mp.setControlInfo('actuator', [18])
assert 18 == ph0.getControlInfo('actuator').getBounds().getLower()
assert 18 == ph0.getControlInfo('actuator').getBounds().getUpper()