def print_model():
model = osim.Model()
model.setName('model')
# Create a body with name 'body', mass of 1 kg, center of mass at
# the origin of the body, and unit inertia
# (Ixx = Iyy = Izz = 1 kg-m^2).
body = osim.Body('body', 1.0, osim.Vec3(0), osim.Inertia(1))
# Create a free joint (all 6 degrees of freedom) with Ground as
# the parent body and 'body' as the child body.
joint = osim.FreeJoint('joint', model.getGround(), body)
# Add the body and joint to the model.
model.addComponent(body)
model.addComponent(joint)
# Create a TableReporter to save quantities to a file after
# simulating.
reporter = osim.TableReporterVec3()
reporter.setName('reporter')
reporter.set_report_time_interval(0.1)
reporter.addToReport(model.getOutput('com_position'))
reporter.getInput('inputs').setAlias(0, 'com_pos')
# Display what input-output connections look like in XML
# (in .osim files).
print("Reporter input-output connections in XML:\n" + \
reporter.dump())
model.addComponent(reporter)
model.printToXML(model_filename)
def print_model():
model = osim.Model()
model.setName('model')
# Create a body with name 'body', mass of 1 kg, center of mass at the
# origin of the body, and unit inertia (Ixx = Iyy = Izz = 1 kg-m^2).
body = osim.Body('body', 1.0, osim.Vec3(0), osim.Inertia(1))
# Create a free joint (all 6 degrees of freedom) with Ground as the parent
# body and 'body' as the child body.
joint = osim.FreeJoint('joint', model.getGround(), body)
# Add the body and joint to the model.
model.addComponent(body)
model.addComponent(joint)
# Create a TableReporter to save quantities to a file after simulating.
reporter = osim.TableReporterVec3()
reporter.setName('reporter')
reporter.set_report_time_interval(0.1)
# Report the position of the origin of the body.
reporter.addToReport(body.getOutput('position'))
# For comparison, we will also get the center of mass position from the
# Model, and we can check that the two outputs are the same for our
# one-body system. The (optional) second argument is an alias for the name
# of the output; it is used as the column label in the table.
reporter.addToReport(model.getOutput('com_position'), 'com_pos')
# Display what input-output connections look like in XML (in .osim files).
print("Reporter input-output connections in XML:\n" + reporter.dump())
model.addComponent(reporter)
model.printToXML(model_filename)
def test_Joint(self):
a = osim.Model()
body = osim.Body('body', 1.0, osim.Vec3(0, 0, 0),
osim.Inertia(0, 0, 0))
loc_in_parent = osim.Vec3(0, -0, 0)
orient_in_parent = osim.Vec3(0, 0, 0)
loc_in_body = osim.Vec3(0, 0, 0)
orient_in_body = osim.Vec3(0, 0, 0)
joint = osim.FreeJoint("joint", a.getGround(), loc_in_parent,
orient_in_parent, body, loc_in_body,
orient_in_parent)
del joint
spatialTransform = osim.SpatialTransform()
joint = osim.CustomJoint("joint", a.getGround(), loc_in_parent,
orient_in_parent, body, loc_in_body,
orient_in_parent, spatialTransform)
del joint
joint = osim.EllipsoidJoint("joint", a.getGround(), loc_in_parent,
orient_in_parent, body, loc_in_body,
orient_in_parent, osim.Vec3(1, 1, 1))
del joint
joint = osim.BallJoint("joint", a.getGround(), loc_in_parent,
orient_in_parent, body, loc_in_body,
orient_in_parent)
del joint
joint = osim.PinJoint("joint", a.getGround(), loc_in_parent,
orient_in_parent, body, loc_in_body,
orient_in_parent)
del joint
joint = osim.SliderJoint("joint", a.getGround(), loc_in_parent,
orient_in_parent, body, loc_in_body,
orient_in_parent)
del joint
joint = osim.WeldJoint("joint", a.getGround(), loc_in_parent,
orient_in_parent, body, loc_in_body,
orient_in_parent)
del joint
joint = osim.GimbalJoint("joint", a.getGround(), loc_in_parent,
orient_in_parent, body, loc_in_body,
orient_in_parent)
del joint
joint = osim.UniversalJoint("joint", a.getGround(), loc_in_parent,
orient_in_parent, body, loc_in_body,
orient_in_parent)
del joint
joint = osim.PlanarJoint("joint", a.getGround(), loc_in_parent,
orient_in_parent, body, loc_in_body,
orient_in_parent)
del joint
def __init__(self, *args, **kwargs):
super(Arm3DEnvMoBL, self).__init__(*args, **kwargs)
blockos = opensim.Body('target', 0.0001, opensim.Vec3(0, 0, 0),
opensim.Inertia(1, 1, .0001, 0, 0, 0))
self.target_joint = opensim.FreeJoint(
'target-joint',
self.osim_model.model.getGround(), # PhysicalFrame
opensim.Vec3(0, 0, 0),
opensim.Vec3(0, 0, 0),
blockos, # PhysicalFrame
opensim.Vec3(0, 0, -0.25),
opensim.Vec3(0, 0, 0))
self.noutput = self.osim_model.noutput
geometry = opensim.Ellipsoid(0.02, 0.02, 0.02)
geometry.setColor(opensim.Green)
blockos.attachGeometry(geometry)
self.osim_model.model.addJoint(self.target_joint)
self.osim_model.model.addBody(blockos)
self.osim_model.model.initSystem()
model_path = "../osim/models/gait9dof18musc.osim"
model = opensim.Model(model_path)
model.setUseVisualizer(True)
# Create the ball
r = 0.000001
ballBody = opensim.Body('ball', 0.0001 , opensim.Vec3(0), opensim.Inertia(1,1,.0001,0,0,0) );
ballGeometry = opensim.Ellipsoid(r, r, r)
ballGeometry.setColor(opensim.Gray)
ballBody.attachGeometry(ballGeometry)
# Attach ball to the model
ballJoint = opensim.FreeJoint("weldball",
model.getGround(), # PhysicalFrame
opensim.Vec3(0, 0, 0),
opensim.Vec3(0, 0, 0),
ballBody, # PhysicalFrame
opensim.Vec3(0, 0, 0),
opensim.Vec3(0, 0, 0))
model.addComponent(ballJoint)
model.addComponent(ballBody)
# Add contact
ballContact = opensim.ContactSphere(r, opensim.Vec3(0,0,0), ballBody);
model.addContactGeometry(ballContact)
# Reinitialize the system with the new controller
state = model.initSystem()
for i in range(6):
ballJoint.getCoordinate(i).setLocked(state, True)
