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examples/forward_dynamics/double_pendulum_with_force.py
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import numpy as np | ||
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from bionc.bionc_numpy import ( | ||
BiomechanicalModel, | ||
NaturalSegment, | ||
JointType, | ||
SegmentNaturalCoordinates, | ||
NaturalCoordinates, | ||
SegmentNaturalVelocities, | ||
NaturalVelocities, | ||
ExternalForceList, | ||
ExternalForce, | ||
) | ||
from bionc import NaturalAxis, CartesianAxis | ||
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def build_n_link_pendulum(nb_segments: int = 1) -> BiomechanicalModel: | ||
"""Build a n-link pendulum model""" | ||
if nb_segments < 1: | ||
raise ValueError("The number of segment must be greater than 1") | ||
# Let's create a model | ||
model = BiomechanicalModel() | ||
# number of segments | ||
# fill the biomechanical model with the segment | ||
for i in range(nb_segments): | ||
name = f"pendulum_{i}" | ||
model[name] = NaturalSegment( | ||
name=name, | ||
alpha=np.pi / 2, # setting alpha, beta, gamma to pi/2 creates a orthogonal coordinate system | ||
beta=np.pi / 2, | ||
gamma=np.pi / 2, | ||
length=1, | ||
mass=1, | ||
center_of_mass=np.array([0, -0.5, 0]), # in segment coordinates system | ||
inertia=np.array([[1, 0, 0], [0, 1, 0], [0, 0, 1]]), # in segment coordinates system | ||
) | ||
# add a revolute joint (still experimental) | ||
# if you want to add a revolute joint, | ||
# you need to ensure that x is always orthogonal to u and v | ||
model._add_joint( | ||
dict( | ||
name="hinge_0", | ||
joint_type=JointType.GROUND_REVOLUTE, | ||
parent="GROUND", | ||
child="pendulum_0", | ||
parent_axis=[CartesianAxis.X, CartesianAxis.X], | ||
child_axis=[NaturalAxis.V, NaturalAxis.W], # meaning we pivot around the cartesian x-axis | ||
theta=[np.pi / 2, np.pi / 2], | ||
) | ||
) | ||
for i in range(1, nb_segments): | ||
model._add_joint( | ||
dict( | ||
name=f"hinge_{i}", | ||
joint_type=JointType.REVOLUTE, | ||
parent=f"pendulum_{i - 1}", | ||
child=f"pendulum_{i}", | ||
parent_axis=[NaturalAxis.U, NaturalAxis.U], | ||
child_axis=[NaturalAxis.V, NaturalAxis.W], | ||
theta=[np.pi / 2, np.pi / 2], | ||
) | ||
) | ||
return model | ||
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model.save("pendulum_with_force.nmod") | ||
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return model | ||
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def apply_force_and_drop_pendulum(t_final: float = 10, external_forces: ExternalForceList = None, nb_segments: int = 1): | ||
""" | ||
This function is used to test the external force | ||
Parameters | ||
---------- | ||
t_final: float | ||
The final time of the simulation | ||
external_forces: ExternalForceList | ||
The external forces applied to the model | ||
nb_segments: int | ||
The number of segments of the model | ||
Returns | ||
------- | ||
tuple[BiomechanicalModel, np.ndarray, np.ndarray, Callable]: | ||
model : BiomechanicalModel | ||
The model to be simulated | ||
time_steps : np.ndarray | ||
The time steps of the simulation | ||
all_states : np.ndarray | ||
The states of the system at each time step X = [Q, Qdot] | ||
dynamics : Callable | ||
The dynamics of the system, f(t, X) = [Xdot, lambdas] | ||
""" | ||
model = build_n_link_pendulum(nb_segments=nb_segments) | ||
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tuple_of_Q = [ | ||
SegmentNaturalCoordinates.from_components(u=[1, 0, 0], rp=[0, -i, 0], rd=[0, -i - 1, 0], w=[0, 0, 1]) | ||
for i in range(0, nb_segments) | ||
] | ||
Q = NaturalCoordinates.from_qi(tuple(tuple_of_Q)) | ||
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tuple_of_Qdot = [ | ||
SegmentNaturalVelocities.from_components(udot=[0, 0, 0], rpdot=[0, 0, 0], rddot=[0, 0, 0], wdot=[0, 0, 0]) | ||
for i in range(0, nb_segments) | ||
] | ||
Qdot = NaturalVelocities.from_qdoti(tuple(tuple_of_Qdot)) | ||
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time_steps, all_states, dynamics = drop_the_pendulum( | ||
model=model, | ||
Q_init=Q, | ||
Qdot_init=Qdot, | ||
external_forces=external_forces, | ||
t_final=t_final, | ||
steps_per_second=60, | ||
) | ||
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return model, time_steps, all_states, dynamics | ||
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def drop_the_pendulum( | ||
model: BiomechanicalModel, | ||
Q_init: NaturalCoordinates, | ||
Qdot_init: NaturalVelocities, | ||
external_forces: ExternalForceList, | ||
t_final: float = 2, | ||
steps_per_second: int = 50, | ||
): | ||
""" | ||
This function simulates the dynamics of a natural segment falling from 0m during 2s | ||
Parameters | ||
---------- | ||
model : BiomechanicalModel | ||
The model to be simulated | ||
Q_init : SegmentNaturalCoordinates | ||
The initial natural coordinates of the segment | ||
Qdot_init : SegmentNaturalVelocities | ||
The initial natural velocities of the segment | ||
external_forces : ExternalForceList | ||
The external forces applied to the model | ||
t_final : float, optional | ||
The final time of the simulation, by default 2 | ||
steps_per_second : int, optional | ||
The number of steps per second, by default 50 | ||
Returns | ||
------- | ||
tuple: | ||
time_steps : np.ndarray | ||
The time steps of the simulation | ||
all_states : np.ndarray | ||
The states of the system at each time step X = [Q, Qdot] | ||
dynamics : Callable | ||
The dynamics of the system, f(t, X) = [Xdot, lambdas] | ||
""" | ||
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print("Evaluate Rigid Body Constraints:") | ||
print(model.rigid_body_constraints(Q_init)) | ||
print("Evaluate Rigid Body Constraints Jacobian Derivative:") | ||
print(model.rigid_body_constraint_jacobian_derivative(Qdot_init)) | ||
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if (model.rigid_body_constraints(Q_init) > 1e-6).any(): | ||
print(model.rigid_body_constraints(Q_init)) | ||
raise ValueError( | ||
"The segment natural coordinates don't satisfy the rigid body constraint, at initial conditions." | ||
) | ||
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t_final = t_final # [s] | ||
steps_per_second = steps_per_second | ||
time_steps = np.linspace(0, t_final, steps_per_second * t_final + 1) | ||
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# initial conditions, x0 = [Qi, Qidot] | ||
states_0 = np.concatenate((Q_init.to_array(), Qdot_init.to_array()), axis=0) | ||
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fext = external_forces | ||
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# Create the forward dynamics function Callable (f(t, x) -> xdot) | ||
def dynamics(t, states): | ||
idx_coordinates = slice(0, model.nb_Q) | ||
idx_velocities = slice(model.nb_Q, model.nb_Q + model.nb_Qdot) | ||
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qddot, lambdas = model.forward_dynamics( | ||
NaturalCoordinates(states[idx_coordinates]), | ||
NaturalVelocities(states[idx_velocities]), | ||
external_forces=fext, | ||
) | ||
return np.concatenate((states[idx_velocities], qddot.to_array()), axis=0), lambdas | ||
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# Solve the Initial Value Problem (IVP) for each time step | ||
normalize_idx = model.normalized_coordinates | ||
all_states = RK4(t=time_steps, f=lambda t, states: dynamics(t, states)[0], y0=states_0, normalize_idx=normalize_idx) | ||
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return time_steps, all_states, dynamics | ||
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def RK4( | ||
t: np.ndarray, | ||
f, | ||
y0: np.ndarray, | ||
normalize_idx: tuple[tuple[int, ...]] = None, | ||
args=(), | ||
) -> np.ndarray: | ||
""" | ||
Runge-Kutta 4th order method | ||
Parameters | ||
---------- | ||
t : array_like | ||
time steps | ||
f : Callable | ||
function to be integrated in the form f(t, y, *args) | ||
y0 : np.ndarray | ||
initial conditions of states | ||
normalize_idx : tuple(tuple) | ||
indices of states to be normalized together | ||
Returns | ||
------- | ||
y : array_like | ||
states for each time step | ||
""" | ||
n = len(t) | ||
y = np.zeros((len(y0), n)) | ||
y[:, 0] = y0 | ||
for i in range(n - 1): | ||
h = t[i + 1] - t[i] | ||
yi = np.squeeze(y[:, i]) | ||
k1 = f(t[i], yi, *args) | ||
k2 = f(t[i] + h / 2.0, yi + k1 * h / 2.0, *args) | ||
k3 = f(t[i] + h / 2.0, yi + k2 * h / 2.0, *args) | ||
k4 = f(t[i] + h, yi + k3 * h, *args) | ||
y[:, i + 1] = yi + (h / 6.0) * (k1 + 2 * k2 + 2 * k3 + k4) | ||
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# verify after each time step the normalization of the states | ||
if normalize_idx is not None: | ||
for idx in normalize_idx: | ||
y[idx, i + 1] = y[idx, i + 1] / np.linalg.norm(y[idx, i + 1]) | ||
return y | ||
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if __name__ == "__main__": | ||
nb_segments = 2 | ||
# add an external force applied on the segment 0 | ||
# first build the object | ||
fext = ExternalForceList.empty_from_nb_segment(nb_segment=nb_segments) | ||
# then add a force | ||
force1 = ExternalForce.from_components( | ||
# this force will prevent the pendulum to fall | ||
force=np.array([0, 0, 1 * 9.81]), | ||
torque=np.array([0, 0, 0]), | ||
application_point_in_local=np.array([0, -0.5, 0]), | ||
# this moment will prevent the pendulum to fall | ||
# force=np.array([0, 0, 0]), | ||
# torque=np.array([-1 * 9.81 * 0.50, 0, 0]), | ||
# application_point_in_local=np.array([0, 0, 0]), | ||
) | ||
force2 = ExternalForce.from_components( | ||
# this force will prevent the pendulum to fall | ||
force=np.array([0, 0, 1 * 9.81]), | ||
torque=np.array([0, 0, 0]), | ||
application_point_in_local=np.array([0, -0.5, 0]), | ||
# this moment will prevent the pendulum to fall | ||
# force=np.array([0, 0, 0]), | ||
# torque=np.array([-1 * 9.81 * 0.50, 0, 0]), | ||
# application_point_in_local=np.array([0, 0, 0]), | ||
) | ||
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# # then add the force to the list on segment 0 | ||
fext.add_external_force(external_force=force1, segment_index=0) | ||
fext.add_external_force(external_force=force2, segment_index=1) | ||
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model, time_steps, all_states, dynamics = apply_force_and_drop_pendulum( | ||
t_final=10, external_forces=fext, nb_segments=nb_segments | ||
) | ||
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# animate the motion | ||
from bionc import Viz | ||
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viz = Viz(model) | ||
viz.animate(all_states[: 12 * nb_segments, :], None) |
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