Python Moco 2D walking examples by nicos1993 · Pull Request #4019 · opensim-org/opensim-core

nicos1993 · 2025-02-20T02:45:46Z

Building on PR #3242

I have updated the cmake file to create the relevant model/data files used for the equivalent C++ examples
All 3 examples run... but I need to verify the results. I am comparing the python results against the matlab results, but I think I am using different versions of OpenSim. I am installing OpenSim for python using: conda install -c opensim-org opensim-moco based on: https://opensimconfluence.atlassian.net/wiki/spaces/OpenSim/pages/53085346/Scripting+in+Python#:~:text=OpenSim%20Conda%20packages%20that%20include%20Moco%20are - is this the latest release?
Still need to finish stepLengthAsymmetry function in StepAsymmetry example

Nicos

This change is

nickbianco · 2025-02-20T04:29:34Z

@nicos1993 you can test the examples on using the latest version of OpenSim via conda install -c opensim-org opensim (this will include Moco).

nickbianco

Good start @nicos1993! I did a pass through and left a few comments.

It would be good to confirm that all the scripts produce the same results as the Matlab scripts.

nickbianco · 2025-02-20T04:32:15Z

Bindings/Python/examples/Moco/example2DWalking/example2DWalking.py

+# limitations under the License.                                             #
+# -------------------------------------------------------------------------- #
+
+# This is a Matlab implementation of an example optimal control


"This is a Python implementation..."

nickbianco · 2025-02-20T04:33:03Z

Bindings/Python/examples/Moco/example2DWalking/example2DWalking.py

+# Define the optimal control problem
+# ==================================
+track = osim.MocoTrack()
+track.setName("gaitTracking")


My preference is use single for strings, e.g., 'gaitTracking'.

nickbianco · 2025-02-20T04:38:04Z

Bindings/Python/examples/Moco/example2DWalking/example2DWalking.py

+# -------------------------------------------------------------------------- #
+# OpenSim Moco: example2DWalking.py                                          #
+# -------------------------------------------------------------------------- #
+# Copyright (c) 2019 Stanford University and the Authors                     #


You could set the copyright year to 2025 for all the files.

This still needs to be set to 2025.

nickbianco · 2025-02-20T04:38:25Z

Bindings/Python/examples/Moco/example2DWalking/example2DWalkingMetabolics.py

+# limitations under the License.                                             #
+# -------------------------------------------------------------------------- #
+
+# This is a Matlab implementation of an example optimal control


"...Python implementation..."

nickbianco · 2025-02-20T04:40:42Z

Bindings/Python/examples/Moco/example2DWalking/example2DWalkingStepAsymmetry.py

+# 'setContactForceThreshold()'.
+#
+# Users must provide the target asymmetry value via 'setTargetAsymmetry()'.
+# Asymmetry values ranges from -1.0 to 1.0. For example, 0.20 is 20# positive


"...0.20 is 20% positive..."

nicos1993 · 2025-02-20T06:05:48Z

Thanks for the quick review! @nickbianco Will take on board the changes!

I definitely agree that ensuring the results between python/matlab is paramount.

nicos1993 · 2025-02-23T01:30:31Z

Hey @nickbianco

I have implemented the suggestions you made! I have also confirmed that the results from these python examples match with the equivalent matlab examples.

Thanks,

Nicos

nickbianco

Looks great @nicos1993!

A couple minor things left: 1) you need to update the copyright year on two of the files and 2) can you confirm that the reference files install correctly? You could either install locally or download a GitHub Actions artifact to check.

nickbianco · 2025-02-24T22:09:11Z

Bindings/Python/examples/Moco/example2DWalking/example2DWalking.py

+# -------------------------------------------------------------------------- #
+# OpenSim Moco: example2DWalking.py                                          #
+# -------------------------------------------------------------------------- #
+# Copyright (c) 2019 Stanford University and the Authors                     #


This still needs to be set to 2025.

nickbianco · 2025-02-24T22:09:23Z

Bindings/Python/examples/Moco/example2DWalking/example2DWalkingMetabolics.py

+# -------------------------------------------------------------------------- #
+# OpenSim Moco: example2DWalkingMetabolics.py                                #
+# -------------------------------------------------------------------------- #
+# Copyright (c) 2021 Stanford University and the Authors                     #


Set to 2025.

nickbianco · 2025-02-24T22:10:22Z

OpenSim/Examples/Moco/example2DWalking/CMakeLists.txt

 install(FILES ${EXAMPLE_2D_WALKING_FILES}
    DESTINATION "${OPENSIM_INSTALL_MATLABEXDIR}/Moco/example2DWalking")
+
+file(COPY ${EXAMPLE_2D_WALKING_FILES}


I assume that you tested that this CMake code correctly installs the reference files in the Python example directory?

I can confirm that it installs the reference files except the Geometry folder. The CMake file doesn't seem to mention anything about the Geometry folder for the equivalent matlab examples, so I am wondering if there is another file that needs to be tweaked?

There is no Geometry folder for this example, so no worries.

nickbianco

Good work @nicos1993!

Nicos added 4 commits February 19, 2025 14:58

adding files to run examples

7205d9c

updated cmake file to use model/files from C++ example

073ce63

added example2Dwalking python files

042229a

updated cmake

e453aec

nickbianco requested changes Feb 20, 2025

View reviewed changes

Nicos added 2 commits February 20, 2025 10:04

2DWalking and Metabolics - same solutions as Matlab examples

7b6467f

updated the asymmetry example

466f3fe

ensured stepTimeAssymetry stepLengthAssymetry appro. length

1aa1958

nickbianco requested changes Feb 24, 2025

View reviewed changes

updated the copyright year

e754886

nickbianco approved these changes Feb 25, 2025

View reviewed changes

nickbianco merged commit a7f7439 into opensim-org:main Feb 25, 2025
11 of 13 checks passed

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nicos1993 commented Feb 20, 2025 • edited by aymanhab Loading Uh oh! There was an error while loading. Please reload this page.

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nicos1993 commented Feb 20, 2025

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nicos1993 commented Feb 23, 2025

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nicos1993 commented Feb 20, 2025 •

edited by aymanhab

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