def __init__(self,
*args,
one_target=False,
max_speed=5.,
kin_coef=0.,
vel_prof_coef=0.,
acc_coef=0.,
**kwargs):
super(Arm2DEnv, self).__init__(*args, **kwargs)
blockos = opensim.Body('target', 0.0001, opensim.Vec3(0),
opensim.Inertia(1, 1, .0001, 0, 0, 0))
self.target_joint = opensim.PlanarJoint(
'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))
geometry = opensim.Ellipsoid(0.02, 0.02, 0.02)
geometry.setColor(opensim.Green)
blockos.attachGeometry(geometry)
self.one_target = one_target
self.target_generated = False
self.osim_model.model.addJoint(self.target_joint)
self.osim_model.model.addBody(blockos)
self.osim_model.model.initSystem()
self.kin_coef = kin_coef
self.vel_prof_coef = vel_prof_coef
self.max_speed = max_speed
def test(model_path, visualize):
model = opensim.Model(model_path)
brain = opensim.PrescribedController()
model.addController(brain)
state = model.initSystem()
muscleSet = model.getMuscles()
for j in range(muscleSet.getSize()):
brain.addActuator(muscleSet.get(j))
func = opensim.Constant(1.0)
brain.prescribeControlForActuator(j, func)
block = opensim.Body('block', 0.0001, opensim.Vec3(0),
opensim.Inertia(1, 1, .0001, 0, 0, 0))
model.addComponent(block)
pj = opensim.PlanarJoint(
'pin',
model.getGround(), # PhysicalFrame
opensim.Vec3(0, 0, 0),
opensim.Vec3(0, 0, 0),
block, # PhysicalFrame
opensim.Vec3(0, 0, 0),
opensim.Vec3(0, 0, 0))
model.addComponent(pj)
model.initSystem()
pj.getCoordinate(1)
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(Arm2DEnv, self).__init__(*args, **kwargs)
blockos = opensim.Body('target', 0.0001 , opensim.Vec3(0), opensim.Inertia(1,1,.0001,0,0,0) );
self.target_joint = opensim.PlanarJoint('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))
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()
def create_obstacles(self):
x = 0.
y = 0.
r = 0.1
for i in range(self.max_obstacles):
name = i.__str__()
blockos = opensim.Body(name + '-block', 0.0001, opensim.Vec3(0),
opensim.Inertia(1., 1., .0001, 0., 0., 0.))
pj = opensim.PlanarJoint(
name + '-joint',
self.osim_model.model.getGround(), # PhysicalFrame
opensim.Vec3(0., 0., 0.),
opensim.Vec3(0., 0., 0.),
blockos, # PhysicalFrame
opensim.Vec3(0., 0., 0.),
opensim.Vec3(0., 0., 0.))
self.osim_model.model.addJoint(pj)
self.osim_model.model.addBody(blockos)
block = opensim.ContactSphere(r, opensim.Vec3(0., 0., 0.), blockos)
block.setName(name + '-contact')
self.osim_model.model.addContactGeometry(block)
force = opensim.HuntCrossleyForce()
force.setName(name + '-force')
force.addGeometry(name + '-contact')
force.addGeometry("r_heel")
force.addGeometry("l_heel")
force.addGeometry("r_toe")
force.addGeometry("l_toe")
force.setStiffness(1.0e6 / r)
force.setDissipation(1e-5)
force.setStaticFriction(0.0)
force.setDynamicFriction(0.0)
force.setViscousFriction(0.0)
self.osim_model.model.addForce(force)
