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clear
import org.opensim.modeling.*
model = Model('arm26.osim');
bodySet = model.getBodySet();
body = bodySet.getPropertyByIndex(0).getValueAsObject(1);
bodyName = cell2mat(body.getName.string);
wrapSet = body.updPropertyByName('WrapObjectSet');

Code: Select all

clear; clc
import org.opensim.modeling.*
model = Model('arm26.osim');
model.setName('arm26_newWrap')

% get the r_humerus Body
bodySet = model.getBodySet();
r_humerus = Body().safeDownCast(bodySet.getPropertyByIndex(0).getValueAsObject(1)); % gets the 

% get the TRIlonghh wrap object
wrapSet = r_humerus.updPropertyByName('WrapObjectSet'); % possibly getWrapObjectSet() instead?
wrapSetObj = wrapSet.getValueAsObject(0);
wrapSetArray = wrapSetObj.updPropertyByIndex(0);
wrapObj = WrapEllipsoid().safeDownCast(wrapSetArray.updValueAsObject(0)); % gets first wrap object
wrapObj2 = wrapObj.clone();% duplicate wrap object
nameOld = wrapObj.getName.string;
nameNew = ['new',nameOld{1}(1:end)];
wrapObj2.setName(nameNew); % give it a new name

% get translation and transform. How to edit?
T = wrapObj2.updPropertyByName('translation');
transform = wrapObj2.getTransform();

% add new wrap object to the r_ulna_radius_hand Body.
r_ulna_radius_hand = Body().safeDownCast(bodySet.updPropertyByIndex(0).updValueAsObject(2));
r_ulna_radius_hand.addWrapObject(wrapObj2);

model.initSystem(); % check model consistency

model.print('arm26_newWrap.osim');

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% body of interest
cur_body = osimModel.getBodySet().get(aSegmentName);

% current wrapping surfaces
curr_wrap = cur_body.getWrapObject(cur_body.getWrapObjectSet.get(n_wrap_surfaces).getName);
   
% current wrapping translation
wrapSurfLocVec3 =  curr_wrap.get_translation();
wrapSurfLocCoords = [wrapSurfLocVec3.get(0),wrapSurfLocVec3.get(1),wrapSurfLocVec3.get(2)];

%I do some modifications to wrapSurfLocCoords (not in this snippet). Then, I can compute new wrap surfaces translation. 

% compute/define new wrap surfaces translation
new_wrapSurfLocCoords =[X X X];

% setting the wrap surfaces translation as Vec3 
new_wrapSurfLocCoords_v3 = Vec3(new_wrapSurfLocCoords(1), new_wrapSurfLocCoords(2), new_wrapSurfLocCoords(3));

curr_wrap.set_translation(new_wrapSurfLocCoords_v3);
    
% current wrapping rotation
wrapSurfRotVec3 =  curr_wrap.get_xyz_body_rotation();
wrapSurfRotCoords = [wrapSurfRotVec3.get(0),wrapSurfRotVec3.get(1),wrapSurfRotVec3.get(2)];

%I do some modifications to wrapSurfRotCoords (not in this snippet). Then, I can compute new wrap surfaces rotation. 

% compute/define new wrap surfaces orientation
new_Orientation =[X X X];
new_wrapSurfRot = Vec3(new_Orientation(1), new_Orientation(2), new_Orientation(3));
    
% setting the wrap surfaces rotation as Vec3
curr_wrap.set_xyz_body_rotation(new_wrapSurfRot);