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Merged
carmichaelong merged 1 commit into from
Mar 11, 2025
Merged

Reduce transform precision to get smaller files and improve loading speed #236

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3 changes: 2 additions & 1 deletion main.py
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Original file line number Diff line number Diff line change
Expand Up @@ -603,7 +603,8 @@ def main(sessionName, trialName, trial_id, cameras_to_use=['all'],
trialName + '.json')
generateVisualizerJson(pathModelIK, pathOutputIK,
outputJsonVisPath,
vertical_offset=vertical_offset)
vertical_offset=vertical_offset,
roundToRotations=4, roundToTranslations=4)

# %% Rewrite settings, adding offset
if not extrinsicsTrial:
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12 changes: 9 additions & 3 deletions utilsOpenSim.py
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Original file line number Diff line number Diff line change
Expand Up @@ -596,7 +596,7 @@ def compareTRCAndForcesTime(pathTRC,pathForces):
# %% This takes model and IK and generates a json of body transforms that can
# be passed to the webapp visualizer
def generateVisualizerJson(modelPath,ikPath,jsonOutputPath,statesInDegrees=True,
vertical_offset=None):
vertical_offset=None, roundToRotations=None, roundToTranslations=None):

opensim.Logger.setLevelString('error')
model = opensim.Model(modelPath)
Expand Down Expand Up @@ -693,8 +693,14 @@ def generateVisualizerJson(modelPath,ikPath,jsonOutputPath,statesInDegrees=True,
# geometry origin. Ayman said getting transform to Geometry::Mesh is safest
# but we don't have access to it thru API and Ayman said what we're doing
# is OK for now
visualizeDict['bodies'][body.getName()]['rotation'].append(body.getTransformInGround(state).R().convertRotationToBodyFixedXYZ().to_numpy().tolist())
visualizeDict['bodies'][body.getName()]['translation'].append(body.getTransformInGround(state).T().to_numpy().tolist())
c_rotations = body.getTransformInGround(state).R().convertRotationToBodyFixedXYZ().to_numpy()
c_translations = body.getTransformInGround(state).T().to_numpy()
if roundToRotations is not None:
c_rotations = np.round(c_rotations, roundToRotations)
if roundToTranslations is not None:
c_translations = np.round(c_translations, roundToTranslations)
visualizeDict['bodies'][body.getName()]['rotation'].append(c_rotations.tolist())
visualizeDict['bodies'][body.getName()]['translation'].append(c_translations.tolist())

with open(jsonOutputPath, 'w') as f:
json.dump(visualizeDict, f)
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