Dear Ayman,
Thank you so much for your suggestion. I will use realizeVelocity method before calling Qs or Us.
aymanh wrote:
Sorry I didn't expect to see the code in html file but I found it!.
I don't know if the model you have contains constraints but it's probably safer to call
osimModel.realizeVelocity(osimState)
before asking for the Qs and Us.
The code was already attached on the first post. But in case I past it as raw.
But the Java exception error has not removed even I used realizeVelocity method. I assume a fatal access might break serious part of OpenSim 4.0.
The first time, I found when I used setPropertiesFromState.
Then this time, I got similar error when the MATLAB had too much memory usage(?).
Have you ever had similar error like this?
main_20171026.m (a little changed)
Code: Select all
% ----------------------------------------------------------------------- %
% main_YYYYMMDD.m
%
% Author: Hideyuki Kimpara, Worcester Polytechnic Institute
%
% This code uses the Matlab interface to the OpenSim API to run a trial
% to connect simulink simulator and OpenSim analysis.
% This example borrows from other Matlab and C++ examples avaiable from
% the OpenSim project written by several people including, but not limited
% to: Brian Umberger and OpenSim team members at Stanford University.
% ----------------------------------------------------------------------- %
clear
% Node and timing information
System_StartTim = 0.00;
System_End_Time = 020.00;
System_Frequency = fix(20.);
if System_Frequency < 1
System_Frequency = 1.;
end
System_timestep = 1./System_Frequency;
System_Num_step = fix((System_End_Time-System_StartTim)*System_Frequency);
% Import the OpenSim modeling classes
import org.opensim.modeling.*
% Create an OpenSim model from an OSIM file
Model_In = ['TwoLinkArmModel.osim'];
osimModel = Model(Model_In);
% Prepare temporary export model file for debug
fileoutpath = [Model_In(1:end-5),'_Monitor_01.osim'];
% Add Analyses to the model: ForceReporter and BodyKinematics
aActuation = Actuation(osimModel);
aBodyKinematics = BodyKinematics(osimModel);
aForceReporter = ForceReporter(osimModel);
aJointReaction = JointReaction(osimModel);
aKinematics = Kinematics(osimModel);
aStatesReporter = StatesReporter(osimModel);
osimModel.addAnalysis(aActuation);
osimModel.addAnalysis(aBodyKinematics);
osimModel.addAnalysis(aForceReporter);
osimModel.addAnalysis(aJointReaction);
osimModel.addAnalysis(aKinematics);
osimModel.addAnalysis(aStatesReporter);
% Initialize the model (build the system and intialize the state)
osimState = osimModel.initSystem();
% Get the number of states from the model;
% in this case the number of controls equals the number of muscles
kp = 100;
kv = 20;
Num_Cent_Cnt = 2;
CentStruct = struct();
CentStruct.Number = Num_Cent_Cnt;
CentStruct.Cent_val_name = cell(1, Num_Cent_Cnt);
CentStruct.Cent_cor_name = cell(1, Num_Cent_Cnt);
CentStruct.Cent_act_name = cell(1, Num_Cent_Cnt);
CentStruct.ValAd = zeros(1, Num_Cent_Cnt);
CentStruct.Q_des = zeros(1, Num_Cent_Cnt);
CentStruct.U_des = zeros(1, Num_Cent_Cnt);
CentStruct.Q_ini = zeros(1, Num_Cent_Cnt);
CentStruct.U_ini = zeros(1, Num_Cent_Cnt);
CentStruct.ContV = zeros(1, Num_Cent_Cnt);
CentStruct.kp = kp * ones(1, Num_Cent_Cnt);
CentStruct.kv = kv * ones(1, Num_Cent_Cnt);
CentStruct.Cent_cor_name(1,1) = cell({'joint_1'});
CentStruct.Cent_cor_name(1,2) = cell({'joint_2'});
CentStruct.Cent_act_name(1,1) = cell({'joint_1_actuator'});
CentStruct.Cent_act_name(1,2) = cell({'joint_2_actuator'});
CentStruct.Q_des(1,1) = 80. * pi / 180.;
CentStruct.U_des(1,1) = 0.0 * pi / 180.;
CentStruct.Q_des(1,2) = -80. * pi / 180.;
CentStruct.U_des(1,2) = 0.0 * pi / 180.;
Control_Func.time = zeros(1, System_Num_step*2+1);
Control_Func.data = zeros(Num_Cent_Cnt, System_Num_step*2+1);
Control_Func.name = CentStruct.Cent_act_name;
Control_Func.time(1) = System_StartTim;
for i=1:System_Num_step
Control_Func.time(i*2) = System_StartTim + System_timestep * (i-1) + System_timestep*0.01;
Control_Func.time(i*2+1) = System_StartTim + System_timestep * (i);
end
for i=1:Num_Cent_Cnt
Coord = osimModel.getCoordinateSet().get(CentStruct.Cent_cor_name(1,i));
CentStruct.Q_ini(1,i) = Coord.getValue(osimState);
CentStruct.U_ini(1,i) = Coord.getSpeedValue(osimState);
Coord.setValue(osimState, 0.0);
Coord.setSpeedValue(osimState, 0.0);
end
% If I need to change initial joint angles, input values here.
CentStruct.Q_ini(1,1) = 90. * pi / 180.;
CentStruct.Q_ini(1,2) = 60. * pi / 180.;
% Solve difference of variable orders between osimModel and osimState.
osimModel.realizeVelocity(osimState);
for i=1:Num_Cent_Cnt
Coord = osimModel.getCoordinateSet().get(CentStruct.Cent_cor_name(1,i));
Coord.setValue(osimState, 1.);
Coord.setSpeedValue(osimState, 10.);
osimModel.realizeVelocity(osimState);
tempQ = osimState.getQ;
tempU = osimState.getU;
for j=1:size(tempQ)
if tempU.get(j-1)==10.
j
CentStruct.ValAd(1,i) = j;
break;
end
end
Coord.setValue(osimState, 0.0);
Coord.setSpeedValue(osimState, 0.0);
osimState.getQ
end
% Return initial state variables into osimModel.
for i=1:Num_Cent_Cnt
Coord = osimModel.getCoordinateSet().get(CentStruct.Cent_cor_name(1,i));
Coord.setValue ( osimState, CentStruct.Q_ini(1,i) );
Coord.setSpeedValue ( osimState, CentStruct.U_ini(1,i) );
end
JointSet = osimModel.getJointSet();
CoordSet = osimModel.getCoordinateSet();
StateValNames = osimModel.getStateVariableNames();
InitStruct = struct();
InitStruct.JointSet = cell(JointSet.getSize,1);
InitStruct.CoordSet = cell(CoordSet.getSize,1);
InitStruct.StateLabl = cell(StateValNames.getSize,1);
InitStruct.StateVals = zeros(StateValNames.getSize,1);
for i = 1:StateValNames.getSize
InitStruct.StateLabl(i,1) = cell(StateValNames.getitem(i-1));
end
for i = 1:CoordSet.getSize
InitStruct.CoordSet(i,1) = cell(CoordSet.get(i-1));
end
for i = 1:JointSet.getSize
InitStruct.JointSet(i,1) = cell(JointSet.get(i-1));
end
% Parameters to be passed in to the forward function
params.model = osimModel;
params.state = osimState;
params.CentSt = CentStruct;
params.Control = Control_Func;
stateStorage = aStatesReporter.getStatesStorage();
% start a timer
tic;
for i = 1:System_Num_step
time_start = System_StartTim + System_timestep * (i-1);
time_end = System_StartTim + System_timestep * (i);
disp(['Cycle [' int2str(i) ']/[' int2str(System_Num_step) '] : Calculating from ' num2str(time_start) ' to ' num2str(time_end)]);
ForwardOsimFunction_171026(time_start,time_end,params,InitStruct);
% Use last state variables for next step initial states
AA = stateStorage.getColumnLabels;
AB = stateStorage.getLastStateVector().getData;
for k=1:AB.getSize
for j = 1:size(InitStruct.StateLabl,1)
if (strcmp(InitStruct.StateLabl(j),AA.getitem(k)))
InitStruct.StateVals(j) = AB.getitem(k-1);
end
end
end
clear AA AB;
end
clear stateStorage ;
% stop the timer
runtime = toc;
disp(['The runtime was ' num2str(runtime)]);
% Write out storage files containing the states and excitations
outputpath = '.\Result\'; % use current directory
bufferstamp = char(datetime,'yy_MM_dd-HH_mm');
osimModel.printControlStorage(['SimOut_',bufferstamp,'_excitations.sto']);
% Also write out the results of the analyses to storage files
aActuation.printResults(['SimOut_',bufferstamp],outputpath,0.01,'.sto');
aBodyKinematics.printResults(['SimOut_',bufferstamp],outputpath,0.01,'.sto');
aForceReporter.printResults(['SimOut_',bufferstamp],outputpath,0.01,'.sto');
aJointReaction.printResults(['SimOut_',bufferstamp],outputpath,0.01,'.sto');
aKinematics.printResults(['SimOut_',bufferstamp],outputpath,0.01,'.sto');
aStatesReporter.printResults(['SimOut_',bufferstamp],outputpath,0.01,'.sto');
aStatesReporter.printResults(['SimOut_',bufferstamp],'.\.',-1,'.sto');
% Reset the analyses so everything starts fresh for the next
% call to this function
aActuation.getForceStorage.reset(0);
aActuation.getPowerStorage.reset(0);
aActuation.getSpeedStorage.reset(0);
aBodyKinematics.getPositionStorage.reset(0);
aBodyKinematics.getVelocityStorage.reset(0);
aBodyKinematics.getAccelerationStorage.reset(0);
aForceReporter.getForceStorage.reset(0);
aKinematics.getAccelerationStorage.reset(0);
aKinematics.getPositionStorage.reset(0);
aKinematics.getVelocityStorage.reset(0);
aStatesReporter.getStatesStorage.reset(0);
![Java_Error2.png](./download/file.php?id=1689&sid=bfb0915868ac73962ea7e47571e67974)
- Java_Error2.png (309.29 KiB) Viewed 1030 times