import datetime
import glob
import os
import re
import shutil
import subprocess
from anypytools import AnyMacro
from anypytools import AnyPyProcess
from anypytools.macro_commands import (MacroCommand, Load, Dump,
SaveData, OperationRun)
from AnyWriter import AnyWriter
from AnybodyResults import AnybodyResults
from config.Configuration import env
class AnyPy:
LOAD = 'load'
INITIAL_CONDITIONS = 'initial_conditions'
KINEMATICS = 'kinematics'
INVERSE_DYNAMICS = 'inverse_dynamics'
# SET_ORDER = 'set_order'
SAVE_H5 = 'save_h5'
LOAD_H5 = 'load_h5'
DUMP_JOINT_ANGLES = 'dump_angles'
DUMP_STEPS = 'dump_steps'
DUMP_LEAP_VECTORS = 'dump_leap_vectors'
REPLAY = 'replay'
LOG_FILE = 'AnyPy{}.log'.format(datetime.datetime.today().strftime('%Y%m%d_%H%M%S'))
INTERPOL_DIR = '/Model/InterpolVec'
def __init__(self, main_filepath, template_directory):
self.any_path, self.any_model = os.path.split(main_filepath)
self.main_filepath = main_filepath
self.template_directory = template_directory
self.operations = []
self.macrolist = []
self.output = None
if env.args('any_interpol_files'):
print('Using interpolation files from "{}"'.format(os.path.normpath(self.any_path + AnyPy.INTERPOL_DIR)))
if env.args('any_bvh_file'):
print("Convert bvh file to anybody interpolation files")
from resources.pymo.pymo.parsers import BVHParser as Pymo_BVHParser
any_writer = AnyWriter(template_directory='config/anybody_templates/',
output_directory=os.path.normpath(self.any_path + AnyPy.INTERPOL_DIR) + '/')
any_writer.write(Pymo_BVHParser().parse(env.config.any_bvh_file))
if env.args('any_files_dir'):
self.copy_files()
# remove frames from start and end (cut)
if env.config.start_frame or env.config.end_frame:
start_frame = int(env.config.start_frame) - 1 if env.config.start_frame else 0
end_frame = int(env.config.end_frame) - 1 if 'end' not in env.config.end_frame.lower() else None
any_writer = AnyWriter(output_directory=os.path.normpath(self.any_path + AnyPy.INTERPOL_DIR) + '/')
any_writer.extract_frames(start_frame, end_frame)
any_writer.extract_frame_timeseries(start_frame, end_frame)
self.output_path = ''
if env.args('output_file_path'):
self.output_path = os.path.normpath(
os.path.join(os.path.split(env.config.output_file_path)[0],
os.path.split(env.config.output_file_path)[1].replace(".anydata.h5", "") + '.anydata.h5'))
self.initialize_operations()
def initialize_operations(self):
"""build the macrolist executed by AnyPyTools"""
operation_cmd = {AnyPy.LOAD: Load(self.main_filepath),
AnyPy.INITIAL_CONDITIONS: OperationRun('Main.Study.InitialConditions'),
AnyPy.KINEMATICS: OperationRun('Main.Study.Kinematics'),
AnyPy.INVERSE_DYNAMICS: OperationRun('Main.Study.InverseDynamics'),
# AnyPy.SET_ORDER: SetValue('Main.HumanModel.Mannequin.InterpolationFunctions.intorder',
# env.config.order),
AnyPy.SAVE_H5: SaveData('Main.Study', self.output_path),
AnyPy.DUMP_JOINT_ANGLES: Dump('Main.Study.Output.JointAngleOutputs'),
AnyPy.DUMP_STEPS: Dump('Main.Study.nStep'),
AnyPy.DUMP_LEAP_VECTORS: Dump('Main.HumanModel.Mannequin.Posture.Right')}
if env.config.load:
self.add_operation(AnyPy.LOAD)
if env.config.initial_conditions:
self.add_operation(AnyPy.INITIAL_CONDITIONS)
if env.config.kinematic:
self.add_operation(AnyPy.KINEMATICS)
if env.config.inverse_dynamics:
self.add_operation(AnyPy.INVERSE_DYNAMICS)
if env.config.nstep:
self.set_step()
# if env.config.order:
# self.add_operation(AnyPy.SET_ORDER)
if env.config.plot:
# requirement for plot is run of kinematic analysis
self.add_operation(AnyPy.LOAD)
self.add_operation(AnyPy.KINEMATICS)
# dump interpolated joint angles
self.add_operation(AnyPy.DUMP_JOINT_ANGLES)
# dump nStep
self.add_operation(AnyPy.DUMP_STEPS)
# dump Mannequin vectors including the joint angles from the bvh file
self.add_operation(AnyPy.DUMP_LEAP_VECTORS)
if self.output_path:
# save study output to hdf5, to view and replay analysis later
self.add_operation(AnyPy.SAVE_H5)
for operation in self.operations:
self.macrolist.append(operation_cmd[operation])
def post_operations(self):
macro_output_path = 'classoperation Main.Study.Output "Load data" --file="{}"'.format(self.output_path)
"""build the macrolist executed by AnyPyTools"""
operation_cmd = {AnyPy.LOAD: Load(self.main_filepath),
AnyPy.LOAD_H5: MacroCommand(macro_output_path),
AnyPy.REPLAY: OperationRun("Main.Study.ReplayKinematics")}
self.macrolist = []
for operation in operation_cmd:
self.macrolist.append(str(operation_cmd[operation]))
print('Starting Anybody with the macros:\n{}'.format(self.macrolist))
print('Executing "{}" in "{}"'.format(self.any_path, self.any_model))
# save current working directory and change to Anybody project folder
cwd = os.getcwd()
os.chdir(self.any_path)
# write macro file to be opened by AnyBody GUI
macro_replay_path = os.path.join(self.any_path, 'replay.anymcr')
with open(macro_replay_path, 'wb') as macro_file:
macro_file.write("\n".join(self.macrolist).encode("UTF-8"))
macro_file.flush()
anybodycmd = [os.path.realpath('C:/Program Files/AnyBody Technology/AnyBody.7.1/AnyBody.exe'),
"-m", macro_file.name]
# execute AnyBody GUI with the command from anybodycmd
subprocess.Popen(anybodycmd)
# change back to original folder
os.chdir(cwd)
def add_operation(self, operation):
"""add operation to a list if not already in the list (unique)"""
if operation not in self.operations:
self.operations.append(operation)
def copy_files(self):
""""copy interpolation files"""
for file in glob.glob(self.template_directory + r'/*.any'):
print('copying "{}" to "{}"'.format(file,
os.path.normpath(self.any_path +
AnyPy.INTERPOL_DIR + "/" + os.path.split(file)[-1])))
shutil.copy(file, self.any_path + AnyPy.INTERPOL_DIR)
def run(self):
if not self.macrolist:
print("No operation for AnyBody was selected -> will terminate now")
return False
# print('Starting Anybody with the operations: {}'.format(self.operations))
print('Starting Anybody with the macros:\n{}'.format(AnyMacro(self.macrolist)))
print('Executing "{}" in "{}"'.format(self.any_path, self.any_model))
# save current working directory and change to Anybody project folder
cwd = os.getcwd()
os.chdir(self.any_path)
app = AnyPyProcess()
self.output = app.start_macro(macrolist=self.macrolist)
# change back to original folder
os.chdir(cwd)
return True
def plot(self):
"""open the plot for the joint angles"""
print('Loading the plot ...')
AnybodyResults(self.output).plot()
def set_step(self):
"""replace the nstep value with the new selected value"""
regex_step = re.compile(r'nStep\s*=.*\d+.*;')
step_setting = 'nStep = {};'.format(env.config.nstep)
with open(self.main_filepath) as file:
old_file = file.read()
new_file = re.sub(regex_step, step_setting, old_file)
with open(self.main_filepath, 'w') as file:
file.write(new_file)
print('"{}" written to "{}"'.format(step_setting, self.main_filepath))
Datasets
Models
