--- a
+++ b/tests/test.obstacles.py
@@ -0,0 +1,64 @@
+# This script goes through OpenSim funcionalties
+# required for OpenSim-RL
+import opensim
+
+# Settings
+stepsize = 0.01
+
+# Load existing model
+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)
+
+state.setTime(0)
+manager = opensim.Manager(model)
+manager.setIntegratorAccuracy(5e-4)
+manager.initialize(state)
+
+# Simulate
+for i in range(100):
+    manager.integrate(i + stepsize)
+
+    # Restart the model every 10 frames, with the new position of the ball
+    if (i + 1) % 10 == 0:
+        newloc = opensim.Vec3(float(i) / 5, 0, 0)
+        opensim.PhysicalOffsetFrame.safeDownCast(ballJoint.getChildFrame()).set_translation(newloc)
+
+        r = i * 0.005
+        #ballGeometry.set_radii(opensim.Vec3(r,r,r))
+        #ballBody.scale(opensim.Vec3(r, r, r))
+        ballContact.setRadius(r)
+
+        state = model.initializeState()
+        
+        ballJoint.getCoordinate(3).setValue(state, i / 100.0)
+        for i in range(6):
+            ballJoint.getCoordinate(i).setLocked(state, True)