Setup

Clone the repository where the developement is done:

git clone [email protected]:mechmotum/gait-closed-loop-id.git

If using Spyder, install it along with spyder-kernels in your base environment:

conda install spyder spyder-kernels

Install the conda environment for the gait closed loop id project:

cd gait-closed-loop-id
conda env create -f gait-closed-loop-id-env.yml
conda activate gait-closed-loop-id

You will also need a working C compiler on your operating system. For Windows, you'll need the right compiler for the Python version you are using. See https://wiki.python.org/moin/WindowsCompilers for more info.

If we make updates in gait2d or opty, you will need to recreate the environment:

conda deactivate
conda env remove -n gait-closed-loop-id
conda env create -f gait-closed-loop-id-env.yml
conda activate gait-closed-loop-id

Data

There is sample data in the data/ directory for tracking but you can use data we collected by downloading this sample file [16Mb], unzipping it, and placing the CSV file into the data/ directory. This is sample data from trial 20 from:

Moore JK, Hnat SK, van den Bogert AJ. 2015. An elaborate data set on human gait and the effect of mechanical perturbations. PeerJ 3:e918 https://doi.org/10.7717/peerj.918

Run

Run the code that evaluates the differential equations:

python src/evaluate.py

Solve an optimal control problem:

python src/solve.py