u_init = InitialConditionsList()
u_init.add([tau_init] * biorbd_model.nbGeneralizedTorque() +
[muscle_init] * biorbd_model.nbMuscleTotal())
# ------------- #
return OptimalControlProgram(
biorbd_model,
dynamics,
number_shooting_points,
final_time,
x_init,
u_init,
x_bounds,
u_bounds,
objective_functions,
)
if __name__ == "__main__":
ocp = prepare_ocp(biorbd_model_path="arm26.bioMod",
final_time=2,
number_shooting_points=20)
# --- Solve the program --- #
sol = ocp.solve(show_online_optim=True)
# --- Show results --- #
result = ShowResult(ocp, sol)
result.animate()
return OptimalControlProgram(
biorbd_model,
problem_type,
number_shooting_points,
phase_time,
X_init,
U_init,
X_bounds,
U_bounds,
objective_functions,
constraints,
tau_mapping=tau_mapping,
)
if __name__ == "__main__":
model_path = "2segments_4dof_2contacts.bioMod"
t = 0.5
ns = 20
ocp = prepare_ocp(model_path=model_path,
phase_time=t,
number_shooting_points=ns,
use_actuators=False)
# --- Solve the program --- #
sol = ocp.solve(show_online_optim=True)
# --- Show results --- #
result = ShowResult(ocp, sol)
result.animate(nb_frames=40)
u_init = InitialConditionsList()
u_init.add([tau_init] * biorbd_model.nbGeneralizedTorque() +
[muscle_init] * biorbd_model.nbMuscleTotal())
# ------------- #
return OptimalControlProgram(
biorbd_model,
dynamics,
number_shooting_points,
final_time,
x_init,
u_init,
x_bounds,
u_bounds,
objective_functions,
)
if __name__ == "__main__":
ocp = prepare_ocp(biorbd_model_path="arm26_with_contact.bioMod",
final_time=2,
number_shooting_points=20)
# --- Solve the program --- #
sol = ocp.solve(show_online_optim=True)
# --- Show results --- #
result = ShowResult(ocp, sol)
result.animate(show_meshes=False)
result.graphs()
biorbd_model,
dynamics,
number_shooting_points,
final_time,
x_init,
u_init,
x_bounds,
u_bounds,
objective_functions,
nb_integration_steps=5,
control_type=control_type,
)
if __name__ == "__main__":
ocp = prepare_ocp(
biorbd_model_path="cube_and_line.bioMod",
number_shooting_points=30,
final_time=2,
marker_velocity_or_displacement="disp", # "velo"
marker_in_first_coordinates_system=True,
control_type=ControlType.LINEAR_CONTINUOUS,
)
# --- Solve the program --- #
sol = ocp.solve(show_online_optim=True)
# --- Show results --- #
result = ShowResult(ocp, sol)
result.animate(nb_frames=200)
x_bounds,
u_bounds,
objective_functions,
nb_threads=nb_threads,
use_SX=use_SX,
)
if __name__ == "__main__":
ocp = prepare_ocp(
biorbd_model_path="pendulum.bioMod", final_time=3, number_shooting_points=41, nb_threads=4, use_SX=True
)
# --- Solve the program --- #
tic = time()
sol_ip = ocp.solve(solver=Solver.IPOPT)
toc = time() - tic
print(f"Time to solve with IPOPT: {toc}sec")
tic = time()
sol_ac = ocp.solve(solver=Solver.ACADOS)
toc = time() - tic
print(f"Time to solve with ACADOS: {toc}sec")
# --- Show results --- #
result_ip = ShowResult(ocp, sol_ip)
result_ac = ShowResult(ocp, sol_ac)
result_ip.graphs()
result_ac.graphs()
result_ip.animate()
result_ac.animate()
"CoM_dot",
lambda x, u, p: plot_CoM_dot(x, "../models/jumper2contacts.bioMod"),
phase_number=0,
plot_type=PlotType.PLOT,
)
ocp.add_plot(
"CoM_dot",
lambda x, u, p: plot_CoM_dot(x, "../models/jumper1contacts.bioMod"),
phase_number=1,
plot_type=PlotType.PLOT,
)
sol = ocp.solve(show_online_optim=True,
solver_options={
"hessian_approximation": "exact",
"max_iter": 1000
})
#--- Show results --- #
# param = Data.get_data(ocp, sol["x"], get_states=False, get_controls=False, get_parameters=True)
# print(
# f"The optimized phases times are: {param['time'][0, 0]}s and {param['time'][1, 0]}s."
# )
toc = time() - tic
print(f"Time to solve : {toc}sec")
result = ShowResult(ocp, sol)
result.graphs(adapt_graph_size_to_bounds=True)
result.animate(nb_frames=61)
)
toc = time() - tic
print(f"Time to solve with ACADOS: {toc}sec")
ocp = prepare_ocp(biorbd_model_path="arm26.bioMod",
final_time=2,
number_shooting_points=51,
use_SX=False)
tic = time()
sol_ip = ocp.solve(
solver=Solver.IPOPT,
show_online_optim=False,
solver_options={
"tol": 1e-3,
"dual_inf_tol": 1e-3,
"constr_viol_tol": 1e-3,
"compl_inf_tol": 1e-3,
"linear_solver": "ma57",
},
)
toc = time() - tic
print(f"Time to solve with IPOPT: {toc}sec")
# --- Show results --- #
result_ac = ShowResult(ocp, sol_ac)
result_ip = ShowResult(ocp, sol_ip)
# result_ac.graphs()
# result_ip.graphs()
result_ac.animate(title="ferf")
result_ip.animate()
pendulum = importlib.util.module_from_spec(spec)
spec.loader.exec_module(pendulum)
ocp = pendulum.prepare_ocp(
biorbd_model_path="pendulum.bioMod",
final_time=2,
number_shooting_points=10,
nb_threads=2,
)
X = InitialConditions([0, 0, 0, 0])
U = InitialConditions([-1, 1])
# --- Single shooting --- #
sol_simulate_single_shooting = Simulate.from_controls_and_initial_states(
ocp, X, U, single_shoot=True)
result_single = ShowResult(ocp, sol_simulate_single_shooting)
result_single.graphs()
# --- Multiple shooting --- #
sol_simulate_multiple_shooting = Simulate.from_controls_and_initial_states(
ocp, X, U, single_shoot=False)
result_multiple = ShowResult(ocp, sol_simulate_multiple_shooting)
result_multiple.graphs()
# --- Single shooting --- #
result_single.animate()
# --- Multiple shooting --- #
result_multiple.animate()