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RealTimeBiomechanics / rtosim

The real-time OpenSim extension (RTOSIM) is a set of libraries in C++ that wrap OpenSim APIs to enable the real-time computation of inverse kinematics and inverse dynamics.
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Accessing OpenSim API ends the program when running rtosim_ik_from_file and rtosim_ik_id_from_nexus #17

Closed jerela closed 4 years ago

jerela commented 4 years ago

I'm trying to perform inverse kinematics by running the rtosim_ik_id_from_nexus.exe executable in the command line, with appropriate arguments.

The program starts, but when it accesses OpenSim API using the getCoordinateNamesFromModel() function (line 130 in https://github.com/RealTimeBiomechanics/rtosim/blob/master/src/mainInverseKinematicsInverseDynamicsFromNexus.cpp), I just get the message _"Loaded model 3DGaitModel2392 from file gait2392simbody.osim" in the command line and the program stops without going any further. If I try to run this program again repeatedly, approximately every twentieth time I run the program it gets further to getMarkerNamesFromModel() (line 131), printing another _"Loaded model 3DGaitModel2392 from file gait2392simbody.osim" message in the command line and then nothing happens. I don't get an error message or anything, it just seems like the program stops after accessing OpenSim API (although it randomly makes it to the next step the API is accessed and then stops there).

I tried also with rtosim_ik_from_file.exe and I ran into the same issue where I get the message about the model having been loaded.

I'm not sure if this is an issue with the rtosim package, the OpenSim API or something on my end, but I would appreciate it if anyone could help me with this.

jerela commented 4 years ago

I tried this again on another computer and it seems that whenever the OpenSim API is accessed by the code, the program has a chance to simply stop there without an error message. The last thing printed on the command line is OpenSim messages along the lines on "Loaded model ...." or "Loaded marker file ..."

This was tested with OpenSim 3.3, so I will try and see if using OpenSim 3.2 makes any difference.

jerela commented 4 years ago

Update: Using OpenSim 3.3, I executed rtosim_ik_from_file.exe enough times until it eventually managed to go through the whole process without stopping mid-process. The program created both raw and filtered IK data in .sto format that I was able to view visually in OpenSim 3.3. However, this was just one occasion, and mostly it still stops somewhere in the script before finishing the program, and I still don't know why this happens.

jerela commented 4 years ago

Update: After running into this issue on two separate PCs running Windows 10, I tried it on Windows 7 and it worked. Using compatibility mode for Windows 7 resolved the issue even on PCs using Windows 10. Since I'm not sure if this was related to RTOSIM or OpenSim API in general, and I found a solution, I am closing this issue.