Calculate the transformation matrices in a specific pose using MATLAB
Posted: Fri Jul 12, 2024 10:34 am
Hi there!
I am trying to calculate the transformation matrices in a specific pose given by a .mot file.
However, I am having some difficulty in placing the musculoskeletal model in the specific pose. Here it is the code I am implementing:
% Import OpenSim libraries
import org.opensim.modeling.*
% Load an OpenSim model
model = Model('output_scaled_model_file.osim'); % Replace with the path to your model
% Initialize the model to get the default state
state = model.initSystem();
% Load the motion data (e.g., a .mot file)
motionData = Storage('StaticCal_0001_scale_ik.mot'); % Replace with the path to your motion file
% Define the time at which you want to extract the pose (e.g., 1.0 seconds)
desiredTime = 0;
% Get the number of states (coordinates) in the model
numStates = size(state.getY());
% Create an array to store the state values
stateValues = zeros(numStates, 1);
% Extract the state values at the desired time from the motion data
for i = 0:numStates-1
stateValues(i+1) = motionData.getStateVector(desiredTime).getData().get(i);
end
coordinate_set = model.getCoordinateSet();
opensimVector = Vector(length(stateValues), 0);
for i = 1:length(stateValues)
opensimVector.set(i-1, stateValues(i)); % OpenSim uses 0-based indexing
end
% Set the state values in the model state
state.setY(opensimVector);
% Get the number of coordinates (states) in the model
numCoordinates = model.getCoordinateSet().getSize();
% Loop through the coordinates to extract values and speeds
for i = 0:numCoordinates-1
coordinateName = model.getCoordinateSet().get(i);
coordinateName.setValue(state, 1)
coordinateName.setSpeedValue(state, 1)
end
% Update the model with the state
model.realizeVelocity(state);
% Print the state information
model.printDetailedInfo(state);
% Optionally, you can save the model with the updated state
model.print('UpdatedModelWithPose.osim');
If anyone is able to help, I'd appreciate the help very much!
Rodrigo
I am trying to calculate the transformation matrices in a specific pose given by a .mot file.
However, I am having some difficulty in placing the musculoskeletal model in the specific pose. Here it is the code I am implementing:
% Import OpenSim libraries
import org.opensim.modeling.*
% Load an OpenSim model
model = Model('output_scaled_model_file.osim'); % Replace with the path to your model
% Initialize the model to get the default state
state = model.initSystem();
% Load the motion data (e.g., a .mot file)
motionData = Storage('StaticCal_0001_scale_ik.mot'); % Replace with the path to your motion file
% Define the time at which you want to extract the pose (e.g., 1.0 seconds)
desiredTime = 0;
% Get the number of states (coordinates) in the model
numStates = size(state.getY());
% Create an array to store the state values
stateValues = zeros(numStates, 1);
% Extract the state values at the desired time from the motion data
for i = 0:numStates-1
stateValues(i+1) = motionData.getStateVector(desiredTime).getData().get(i);
end
coordinate_set = model.getCoordinateSet();
opensimVector = Vector(length(stateValues), 0);
for i = 1:length(stateValues)
opensimVector.set(i-1, stateValues(i)); % OpenSim uses 0-based indexing
end
% Set the state values in the model state
state.setY(opensimVector);
% Get the number of coordinates (states) in the model
numCoordinates = model.getCoordinateSet().getSize();
% Loop through the coordinates to extract values and speeds
for i = 0:numCoordinates-1
coordinateName = model.getCoordinateSet().get(i);
coordinateName.setValue(state, 1)
coordinateName.setSpeedValue(state, 1)
end
% Update the model with the state
model.realizeVelocity(state);
% Print the state information
model.printDetailedInfo(state);
% Optionally, you can save the model with the updated state
model.print('UpdatedModelWithPose.osim');
If anyone is able to help, I'd appreciate the help very much!
Rodrigo