simtk.org

Code: Select all

Error using torsoStabiliserOpenSimSimulation
Java exception occurred:
java.lang.RuntimeException: SimTK Exception thrown at State.cpp:974:
  Error detected by Simbody method getCacheEntry: State Cache entry was out of date at Stage Time.
  This entry depends on version 1 of Stage Instance but was last updated at version 0.
  (Required condition 'version == m_dependsOnVersionWhenLastComputed' was not met.)

	at org.opensim.modeling.opensimSimulationJNI.Point_calcDistanceBetween__SWIG_1(Native Method)
	at org.opensim.modeling.Point.calcDistanceBetween(Point.java:153)

Code: Select all

clc
clear

%% Initialization

% import Opensim classes
org.opensim.modeling.opensimCommon.GetVersion()
import org.opensim.modeling.*

basefilename = 'Model_9x10_Wheelchair_2';
modfilename = strcat(basefilename, ...
    datestr(now,'_ddmmyy_HHMM'),'.osim');

% Load model and get model components
model = Model(strcat(basefilename,'.osim'));

% Load MOT file
motData = readtable('Limit01_9x10.mot','FileType','text');
timeVec = motData.time;
coordinateDataMatrix = motData{:,2:end};

% Initialize the sytem
state = model.initSystem();


bodySet = model.getBodySet();
numBodies = bodySet.getSize();

coordinateSet = model.getCoordinateSet();
numCoordinates = coordinateSet.getSize();

forceSet = model.getForceSet();
numForces = forceSet.getSize();

markerSet = model.getMarkerSet();
numMarkers = markerSet.getSize();


%% Get relevant marker info

for i = 1:numMarkers
    tempMarker = markerSet.get(i-1);
    tempMarkerName(i) = tempMarker.getName();
    fprintf("Marker Name: %i: %s \n",i-1,tempMarkerName(i));
    if strcmp(tempMarkerName(i),'T2_4')
        T2_4_Marker = tempMarker;
        T2_4_Marker.set_fixed(true);
        T2_4_MarkerLoc = tempMarker.get_location();
    elseif strcmp(tempMarkerName(i),'T2_8')
        T2_8_Marker = tempMarker;
        T2_8_Marker.set_fixed(true);
        T2_8_MarkerLoc = tempMarker.get_location();
    elseif strcmp(tempMarkerName(i),'wheelchair1')
        wheelchair1Marker = tempMarker;
        wheelchair1Marker.set_fixed(true);
        wheelchair1MarkerLoc = tempMarker.get_location();
    elseif strcmp(tempMarkerName(i),'wheelchair3')
        wheelchair3Marker = tempMarker;
        wheelchair3Marker.set_fixed(true);
        wheelchair3MarkerLoc = tempMarker.get_location();
    end
end

scapula_R = model.getBodySet().get('scapula_R');
scapula_L = model.getBodySet().get('scapula_L');
ground = model.getGround();

pathSpring1_restingLength = wheelchair1Marker.calcDistanceBetween(state,scapula_L,T2_8_Marker.get_location());
fprintf('Path Spring 1 Resting Length:%.04f \n',pathSpring1_restingLength)

pathSpring2_restingLength = wheelchair3Marker.calcDistanceBetween(state,scapula_R,T2_4_Marker.get_location());
fprintf('Path Spring 2 Resting Length:%.04f \n',pathSpring2_restingLength)

%% Remove all muscles


% Get the MuscleSet
muscleSet = model.getMuscles();

% Number of muscles in the model
numMuscles = muscleSet.getSize();

% Iterate through all the muscles and remove them
for i = numMuscles+1:-1:1  % Start from the last muscle; OpenSim uses 0-indexing
    % Remove the muscle from the model
    model.updForceSet().remove(i-1);
end


%% Add Actuator between markers

% syringe actuator specs
% L_ser = 0.015; L_syr = 0.018; k_ser = 400; gearing = 1/2.25;
% get syringe actuator force as a function of displacement (x)
% syringeActuatorFunc = @(x) syringeActuator_simplified2(x,[L_ser L_syr k_ser gearing]);
% d = linspace(0,(L_ser+L_syr)*gearing,1000);
% syringeActForce = syringeActuatorFunc(d);
% plot(d,syringeActForce)


% Create Path Actuator between selected marker locations
actuator1 = PathSpring();
actuator1.setName('Actuator1');

% Set the location of the first point in the tibia frame. These numbers
% were determined from placing a marker on the desired location in the GUI.
actuator1.getGeometryPath().appendNewPathPoint('wheelchairLoc1',ground,wheelchair1MarkerLoc);
% Set the locaton of the second point in the Calcn frame
actuator1.getGeometryPath().appendNewPathPoint('scapulaL_Loc', scapula_L,T2_8_MarkerLoc);


% Create Path Actuator between selected marker locations
actuator2 = PathSpring();
actuator2.setName('Actuator2');

% Set the location of the first point in the tibia frame. These numbers
% were determined from placing a marker on the desired location in the GUI.
actuator2.getGeometryPath().appendNewPathPoint('wheelchairLoc3',ground,wheelchair3MarkerLoc);
% Set the locaton of the second point in the Calcn frame
actuator2.getGeometryPath().appendNewPathPoint('scapulaR_Loc', scapula_R,T2_4_MarkerLoc);


% actuator1 - Path Spring Characteristics
actuator1.setStiffness(0);
actuator1.setDissipation(0);
actuator1.setRestingLength(pathSpring1_restingLength);

% actuator2 - Path Spring Characteristics
actuator2.setStiffness(0);
actuator2.setDissipation(0);
actuator2.setRestingLength(pathSpring2_restingLength);



% Add the force to the model
model.addForce(actuator1);
model.addForce(actuator2);
model.finalizeConnections();

% print model - save as new file
model.print(modfilename)

%% Traverse MOT File kinematics

% get number of timesteps
numTimesteps = length(timeVec);

model.setUseVisualizer(false);


% Re-initialise system
state = model.initSystem();


% iterate over time
for i = 1:numTimesteps

    % iterate over model coordinates
    for j = 1:numCoordinates
        currCoord = coordinateSet.get(j-1);
        currCoord.setValue(state,coordinateDataMatrix(i,j),false);
    end
%     model.equilibrateMuscles(state);

    L_pathSpring1_a(i) = wheelchair1Marker.calcDistanceBetween(state,scapula_L,T2_8_Marker.get_location());
    L_pathSpring1_b(i) = actuator1.getLength(state);

    L_pathSpring2_a(i) = wheelchair3Marker.calcDistanceBetween(state,scapula_R,T2_4_Marker.get_location());
    L_pathSpring2_b(i) = actuator2.getLength(state);
    %     fprintf('Time: %03f \n',timeVec(i))

    fprintf('Time: %03f Path Spring 1 Length: %.04f %.04f Path Spring 2 Length: %.04f %.04f  \n',...
        timeVec(i),L_pathSpring1_a(i),L_pathSpring1_b(i),...
        L_pathSpring2_a(i),L_pathSpring2_b(i));
end

%% Save Data

save('ModelOpenSim_wActuators.mat')