from IPython.display import Image
Image('figures/human_balance_diagram.png')

from solution.simulation import *

from pydy_viz.shapes import Cylinder, Sphere

from pydy_viz.visualization_frame import VisualizationFrame
from pydy_viz.scene import Scene

Sphere?

ankle_shape = Sphere(color='black', radius=0.1)
knee_shape = Sphere(color='black', radius=0.1)
hip_shape = Sphere(color='black', radius=0.1)
head_shape = Sphere(color='black', radius=0.125)

VisualizationFrame?

ankle_viz_frame = VisualizationFrame(inertial_frame, ankle, ankle_shape)
knee_viz_frame = VisualizationFrame(inertial_frame, knee, knee_shape)
hip_viz_frame = VisualizationFrame(inertial_frame, hip, hip_shape)

head = Point('N')  # N for Noggin
head.set_pos(hip, 2 * torso_com_length * torso_frame.y)
head_viz_frame = VisualizationFrame(inertial_frame, head, head_shape)

lower_leg_center = Point('l_c')
upper_leg_center = Point('u_c')
torso_center = Point('t_c')

lower_leg_center.set_pos(ankle, lower_leg_length / 2 * lower_leg_frame.y)
upper_leg_center.set_pos(knee, upper_leg_length / 2 * upper_leg_frame.y)
torso_center.set_pos(hip, torso_com_length * torso_frame.y)

constants_dict = dict(zip(constants, numerical_constants))
constants_dict

Cylinder?

lower_leg_shape = Cylinder('Lower Leg Cylinder', radius=0.08,
                      length=constants_dict[lower_leg_length], color='blue')

lower_leg_viz_frame = VisualizationFrame('Lower Leg', lower_leg_frame, lower_leg_center, lower_leg_shape)

upper_leg_shape = Cylinder('Upper Leg Cylinder', radius=0.08,
                      length=constants_dict[upper_leg_length], color='green')

upper_leg_viz_frame = VisualizationFrame('Upper Leg', upper_leg_frame, upper_leg_center, upper_leg_shape)

torso_shape = Cylinder('Torso Cylinder', radius=0.08,
                      length=2 * constants_dict[torso_com_length], color='red')

torso_viz_frame = VisualizationFrame('Torso', torso_frame, torso_center, torso_shape)

Scene?

scene = Scene(inertial_frame, ankle)

scene.visualization_frames = [ankle_viz_frame,
                              knee_viz_frame,
                              hip_viz_frame,
                              head_viz_frame,
                              lower_leg_viz_frame,
                              upper_leg_viz_frame,
                              torso_viz_frame]

scene.generate_visualization_json(coordinates + speeds, constants, y, numerical_constants)

scene.display()