def computeMarkersReference(predictedSolution):
model = createDoublePendulumModel()
model.initSystem()
states = predictedSolution.exportToStatesStorage()
# Workaround for a bug in Storage::operator=().
columnLabels = model.getStateVariableNames()
columnLabels.insert(0, "time")
states.setColumnLabels(columnLabels)
statesTraj = osim.StatesTrajectory.createFromStatesStorage(model, states)
markerTrajectories = osim.TimeSeriesTableVec3()
markerTrajectories.setColumnLabels(["/markerset/m0", "/markerset/m1"])
for state in statesTraj:
model.realizePosition(state)
m0 = model.getComponent("markerset/m0")
m1 = model.getComponent("markerset/m1")
markerTrajectories.appendRow(
state.getTime(),
osim.RowVectorVec3(
[m0.getLocationInGround(state),
m1.getLocationInGround(state)]))
# Assign a weight to each marker.
markerWeights = osim.SetMarkerWeights()
markerWeights.cloneAndAppend(osim.MarkerWeight("/markerset/m0", 1))
markerWeights.cloneAndAppend(osim.MarkerWeight("/markerset/m1", 5))
return osim.MarkersReference(markerTrajectories, markerWeights)
def __init__(self, setup_file=None):
# type: (Optional[str]) -> None
# Define properties, set default values.
self.accuracy = 1e-10
self.constraint_weight = float("inf")
self.coordinate_file = ""
self.coordinate_references = opensim.SimTKArrayCoordinateReference()
self.ik_task_set = None
self.marker_file = ""
self.markers_reference = opensim.MarkersReference()
self.model = None
self.model_file = ""
self.time_final = float("inf")
self.time_start = float("-inf")
# Initialize from OpenSim's IK setup file.
if setup_file:
self._load_from_setup_file(setup_file)
def __init__(self, setup_file=None, property_list=None):
# Define properties, set default values.
self.accuracy = 1e-10
self.constraint_weight = float("inf")
self.sensor_to_opensim_rotations = opensim.Vec3()
self.model = None
self.model_file = ""
self.coordinate_references = opensim.SimTKArrayCoordinateReference()
self.orientation_file = ""
self.orientation_references = opensim.OrientationsReference()
self.time_final = float("inf")
self.time_start = float("-inf")
#--------->'marker_file' property doesn't seem to exist in the class
self.marker_file = ""
self.markers_reference = opensim.MarkersReference()
# Initialise from OpenSim's IK setup file.
if setup_file:
self._load_from_setup_file(setup_file)
elif property_list:
self._load_from_property_list(property_list)
coordinates = model.getCoordinateSet()
ikReporter = osim.TableReporter()
ikReporter.setName('ik_reporter')
for coord in coordinates:
if log_data:
ikReporter.addToReport(coord.getOutput('value'), coord.getName())
model.addComponent(ikReporter)
model.finalizeConnections
# Initialize simulation
quatTable = osim.TimeSeriesTableQuaternion(sto_filename)
orientationsData = osim.OpenSenseUtilities.convertQuaternionsToRotations(
quatTable)
oRefs = osim.OrientationsReference(orientationsData)
init_state = model.initSystem()
mRefs = osim.MarkersReference()
coordinateReferences = osim.SimTKArrayCoordinateReference()
if visualize:
model.setUseVisualizer(True)
model.initSystem()
s0 = init_state
ikSolver = osim.InverseKinematicsSolver(model, mRefs, oRefs,
coordinateReferences,
constraint_var)
ikSolver.setAccuracy = accuracy
s0.setTime(0.)
ikSolver.assemble(s0)
if visualize: # initialize visualization
model.getVisualizer().show(s0)
model.getVisualizer().getSimbodyVisualizer().setShowSimTime(True)