def get_state(self):
return opensim.State(self.state)
from osim.env import RunEnv
import opensim
env = RunEnv(visualize=True)
observation = env.reset(seed=0)
s = 0
for s in range(50000):
d = False
if s == 30:
state_old = opensim.State(env.osim_model.state)
print("State stored")
print(state_old)
if s % 50 == 49:
env.osim_model.revert(state_old)
state_old = opensim.State(state_old)
print("Rollback")
print(state_old)
o, r, d, i = env.step(env.action_space.sample())
opensim.Vec3(0, 0, 0),
opensim.Vec3(0, 0, 0))
bodyGeometry = opensim.Ellipsoid(0.1, 0.1, 0.1)
bodyGeometry.setColor(opensim.Gray)
blockos.attachGeometry(bodyGeometry)
model.addComponent(pj)
model.addComponent(blockos)
#block = opensim.ContactMesh('block.obj',opensim.Vec3(0,0,0), opensim.Vec3(0,0,0), blockos);
block = opensim.ContactSphere(0.4, opensim.Vec3(0, 0, 0), blockos)
model.addContactGeometry(block)
# Reinitialize the system with the new controller
state0 = model.initSystem()
state = opensim.State(state0)
# Change max force
muscleSet.get(0).setMaxIsometricForce(100000.0)
# Get ligaments
ligamentSet = []
for j in range(20, 26):
ligamentSet.append(
opensim.CoordinateLimitForce.safeDownCast(forceSet.get(j)))
for i in range(1000):
# Set some excitation values
for j in range(muscleSet.getSize()):
controllers[j].setValue(((i + j) % 10) * 0.1)
def reset(self):
if not self.state0:
self.state0 = self.model.initSystem()
self.manager = opensim.Manager(self.model)
self.state = opensim.State(self.state0)
