Here my attemps at creating a rowing simulator. The first, failed, attempt was done using gazebo with ROS.
The next attempts use OpenSim.
Contains the simplest version of a "leg" pushing a boat through the water. Well, actually the boat is a box on the ground an friction is used to simulate the water. Both IK-tool and CMC-tool work, the video is the CMC tool in action.
https://github.com/SietseAchterop/Rowing-simulator/blob/master/Pusher/pusher_CMC_video.mp4
This version does not have muscles yet.
Contains a first version of a boat with a rower. No muscles yet, only actuators on the joints.
- Osim and trc files are created via the python scripts.
- The mot file is created using the IK tool.
To model a blade in water a new force, BladeForce, was created, a variant of the ElasticFoundationForce of Simbody. With BladeForce friction is dependant upon the angle between the blade and the speed of the blade in the water. The parameters set the friction perpendicular to the blade and friction in line with the blade is set very low in BladeForce.
Also a script to create opensim from source on debian and ubuntu is included.