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)
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)
# Simulate
for i in range(100):
t = state.getTime()
manager = opensim.Manager(model)
manager.integrate(state, t + stepsize)
# Restart the model every 10 frames, with the new position of the ball
"pinblock",
model.getGround(), # PhysicalFrame
opensim.Vec3(-0.5, 0, 0),
opensim.Vec3(0, 0, 0),
blockos, # PhysicalFrame
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)))