Log In Sign Up
Models:
Joel Williams
JoelW/
osim-rl
0
Downloads: 1
[077a87]: / tests / test.segfault.py

Download this file

47 lines (36 with data), 1.4 kB 

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
import os

import opensim



opensim.Body('block', 0.0001 , opensim.Vec3(0), opensim.Inertia(1,1,.0001,0,0,0) );

opensim.Body('block', 0.0001 , opensim.Vec3(0), opensim.Inertia(1,1,.0001,0,0,0) );



model_path = os.path.join(os.path.dirname(__file__), '../osim/models/gait9dof18musc.osim')



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)





    

test(model_path,False)

test(model_path,False)



from osim.env import L2RunEnv



env = L2RunEnv(visualize=False)

env1 = L2RunEnv(visualize=False)

env1.reset()

env1.reward()

env.reset()

env.reward()