API  4.2
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example2DWalkingMetabolics.cpp

This is an example using the MocoTrack tool that also shows how to minimize the total metabolic rate employing the Bhargava2004SmoothedMuscleMetabolics.

/* -------------------------------------------------------------------------- *
* OpenSim Moco: example2DWalkingMetabolics.cpp *
* -------------------------------------------------------------------------- *
* Copyright (c) 2017-20 Stanford University and the Authors *
* *
* Author(s): Antoine Falisse *
* *
* Licensed under the Apache License, Version 2.0 (the "License"); you may *
* not use this file except in compliance with the License. You may obtain a *
* copy of the License at http://www.apache.org/licenses/LICENSE-2.0 *
* *
* Unless required by applicable law or agreed to in writing, software *
* distributed under the License is distributed on an "AS IS" BASIS, *
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
* See the License for the specific language governing permissions and *
* limitations under the License. *
* -------------------------------------------------------------------------- */
#include <OpenSim/Moco/MocoGoal/MocoOutputGoal.h>
#include <OpenSim/Moco/osimMoco.h>
using namespace OpenSim;
// Set a coordinate tracking problem where the goal is to minimize the
// difference between provided and simulated coordinate values and speeds
// as well as to minimize an effort cost (squared controls) and a metabolic
// cost (metabolic energy rate normalized by distance traveled and body mass;
// the metabolics model is based on a smooth approximation of the
// phenomenological model described by Bhargava et al. (2004)). The provided
// data represents half a gait cycle. Endpoint constraints enforce periodicity
// of the coordinate values (except for pelvis tx) and speeds, coordinate
// actuator controls, and muscle activations.
void gaitTrackingMetabolics() {
using SimTK::Pi;
MocoTrack track;
track.setName("gaitTrackingMetabolics");
// Define the optimal control problem.
// ===================================
Model baseModel("2D_gait.osim");
// Add metabolics
Bhargava2004SmoothedMuscleMetabolics* metabolics =
new Bhargava2004SmoothedMuscleMetabolics();
metabolics->setName("metabolics");
metabolics->set_use_smoothing(true);
metabolics->addMuscle("hamstrings_r",
baseModel.getComponent<Muscle>("hamstrings_r"));
metabolics->addMuscle("hamstrings_l",
baseModel.getComponent<Muscle>("hamstrings_l"));
metabolics->addMuscle("bifemsh_r",
baseModel.getComponent<Muscle>("bifemsh_r"));
metabolics->addMuscle("bifemsh_l",
baseModel.getComponent<Muscle>("bifemsh_l"));
metabolics->addMuscle("glut_max_r",
baseModel.getComponent<Muscle>("glut_max_r"));
metabolics->addMuscle("glut_max_l",
baseModel.getComponent<Muscle>("glut_max_l"));
metabolics->addMuscle("iliopsoas_r",
baseModel.getComponent<Muscle>("iliopsoas_r"));
metabolics->addMuscle("iliopsoas_l",
baseModel.getComponent<Muscle>("iliopsoas_l"));
metabolics->addMuscle("rect_fem_r",
baseModel.getComponent<Muscle>("rect_fem_r"));
metabolics->addMuscle("rect_fem_l",
baseModel.getComponent<Muscle>("rect_fem_l"));
metabolics->addMuscle("vasti_r",
baseModel.getComponent<Muscle>("vasti_r"));
metabolics->addMuscle("vasti_l",
baseModel.getComponent<Muscle>("vasti_l"));
metabolics->addMuscle("gastroc_r",
baseModel.getComponent<Muscle>("gastroc_r"));
metabolics->addMuscle("gastroc_l",
baseModel.getComponent<Muscle>("gastroc_l"));
metabolics->addMuscle("soleus_r",
baseModel.getComponent<Muscle>("soleus_r"));
metabolics->addMuscle("soleus_l",
baseModel.getComponent<Muscle>("soleus_l"));
metabolics->addMuscle("tib_ant_r",
baseModel.getComponent<Muscle>("tib_ant_r"));
metabolics->addMuscle("tib_ant_l",
baseModel.getComponent<Muscle>("tib_ant_l"));
baseModel.addComponent(metabolics);
baseModel.finalizeConnections();
ModelProcessor modelprocessor = ModelProcessor(baseModel);
track.setModel(modelprocessor);
track.setStatesReference(
TableProcessor("referenceCoordinates.sto") | TabOpLowPassFilter(6));
track.set_states_global_tracking_weight(30.0);
track.set_allow_unused_references(true);
track.set_track_reference_position_derivatives(true);
track.set_apply_tracked_states_to_guess(true);
track.set_initial_time(0.0);
track.set_final_time(0.47008941);
MocoStudy study = track.initialize();
MocoProblem& problem = study.updProblem();
// Goals.
// =====
// Symmetry.
auto* symmetryGoal = problem.addGoal<MocoPeriodicityGoal>("symmetryGoal");
Model model = modelprocessor.process();
model.initSystem();
// Symmetric coordinate values (except for pelvis_tx) and speeds.
for (const auto& coord : model.getComponentList<Coordinate>()) {
if (IO::EndsWith(coord.getName(), "_r")) {
symmetryGoal->addStatePair({coord.getStateVariableNames()[0],
std::regex_replace(coord.getStateVariableNames()[0],
std::regex("_r"), "_l")});
symmetryGoal->addStatePair({coord.getStateVariableNames()[1],
std::regex_replace(coord.getStateVariableNames()[1],
std::regex("_r"), "_l")});
}
if (IO::EndsWith(coord.getName(), "_l")) {
symmetryGoal->addStatePair({coord.getStateVariableNames()[0],
std::regex_replace(coord.getStateVariableNames()[0],
std::regex("_l"), "_r")});
symmetryGoal->addStatePair({coord.getStateVariableNames()[1],
std::regex_replace(coord.getStateVariableNames()[1],
std::regex("_l"), "_r")});
}
if (!IO::EndsWith(coord.getName(), "_l") &&
!IO::EndsWith(coord.getName(), "_r") &&
!IO::EndsWith(coord.getName(), "_tx")) {
symmetryGoal->addStatePair({coord.getStateVariableNames()[0],
coord.getStateVariableNames()[0]});
symmetryGoal->addStatePair({coord.getStateVariableNames()[1],
coord.getStateVariableNames()[1]});
}
}
symmetryGoal->addStatePair({"/jointset/groundPelvis/pelvis_tx/speed"});
// Symmetric coordinate actuator controls.
symmetryGoal->addControlPair({"/lumbarAct"});
// Symmetric muscle activations.
for (const auto& muscle : model.getComponentList<Muscle>()) {
if (IO::EndsWith(muscle.getName(), "_r")) {
symmetryGoal->addStatePair({muscle.getStateVariableNames()[0],
std::regex_replace(muscle.getStateVariableNames()[0],
std::regex("_r"), "_l")});
}
if (IO::EndsWith(muscle.getName(), "_l")) {
symmetryGoal->addStatePair({muscle.getStateVariableNames()[0],
std::regex_replace(muscle.getStateVariableNames()[0],
std::regex("_l"), "_r")});
}
}
// Effort. Get a reference to the MocoControlGoal that is added to every
// MocoTrack problem by default.
MocoControlGoal& effort =
dynamic_cast<MocoControlGoal&>(problem.updGoal("control_effort"));
effort.setWeight(0.1);
// Metabolics; total metabolic rate includes activation heat rate,
// maintenance heat rate, shortening heat rate, mechanical work rate, and
// basal metabolic rate.
auto* metGoal = problem.addGoal<MocoOutputGoal>("met", 0.1);
metGoal->setOutputPath("/metabolics|total_metabolic_rate");
metGoal->setDivideByDisplacement(true);
metGoal->setDivideByMass(true);
// Bounds.
// =======
problem.setStateInfo("/jointset/groundPelvis/pelvis_tilt/value",
{-20 * Pi / 180, -10 * Pi / 180});
problem.setStateInfo("/jointset/groundPelvis/pelvis_tx/value", {0, 1});
problem.setStateInfo(
"/jointset/groundPelvis/pelvis_ty/value", {0.75, 1.25});
problem.setStateInfo("/jointset/hip_l/hip_flexion_l/value",
{-10 * Pi / 180, 60 * Pi / 180});
problem.setStateInfo("/jointset/hip_r/hip_flexion_r/value",
{-10 * Pi / 180, 60 * Pi / 180});
problem.setStateInfo(
"/jointset/knee_l/knee_angle_l/value", {-50 * Pi / 180, 0});
problem.setStateInfo(
"/jointset/knee_r/knee_angle_r/value", {-50 * Pi / 180, 0});
problem.setStateInfo("/jointset/ankle_l/ankle_angle_l/value",
{-15 * Pi / 180, 25 * Pi / 180});
problem.setStateInfo("/jointset/ankle_r/ankle_angle_r/value",
{-15 * Pi / 180, 25 * Pi / 180});
problem.setStateInfo("/jointset/lumbar/lumbar/value", {0, 20 * Pi / 180});
// Configure the solver.
// =====================
MocoCasADiSolver& solver = study.updSolver<MocoCasADiSolver>();
solver.set_num_mesh_intervals(50);
solver.set_verbosity(2);
solver.set_optim_solver("ipopt");
solver.set_optim_convergence_tolerance(1e-4);
solver.set_optim_constraint_tolerance(1e-4);
solver.set_optim_max_iterations(10000);
// Solve problem.
// ==============
MocoSolution solution = study.solve();
auto full = createPeriodicTrajectory(solution);
full.write("gaitTrackingMetabolics_solution_fullcycle.sto");
std::cout << "The metabolic cost of transport is: "
<< solution.getObjectiveTerm("met") << " [J kg-1 m-1]." << std::endl;
study.visualize(solution);
}
int main() {
try {
gaitTrackingMetabolics();
} catch (const std::exception& e) { std::cout << e.what() << std::endl; }
return EXIT_SUCCESS;
}
static bool EndsWith(const std::string &string, const std::string &ending)
Determine if string ends with the substring ending.
OSIMMOCO_API MocoTrajectory createPeriodicTrajectory(const MocoTrajectory &halfPeriodTrajectory, std::vector< std::string > addPatterns={".*pelvis_tx/value"}, std::vector< std::string > negatePatterns={ ".*pelvis_list(?!/value).*", ".*pelvis_rotation.*", ".*pelvis_tz(?!/value).*", ".*lumbar_bending(?!/value).*", ".*lumbar_rotation.*"}, std::vector< std::string > negateAndShiftPatterns={ ".*pelvis_list/value", ".*pelvis_tz/value", ".*lumbar_bending/value"}, std::vector< std::pair< std::string, std::string >> symmetryPatterns={{R"(_r(\/|_|$))", "_l$1"}, {R"(_l(\/|_|$))", "_r$1"}})
Convert a trajectory covering half the period of a symmetric motion into a trajectory over the full p...
The Moco interface is contained within the OpenSim namespace.
Definition: ActivationCoordinateActuator.h:30