def test_connecting_and_iterate_inputs(self):
m = osim.Model()
b = osim.Body('b1', 2.0, osim.Vec3(1, 0, 0), osim.Inertia(1))
j = osim.PinJoint('pin', m.getGround(), b)
# Source.
source = osim.TableSource()
source.setName("source")
table = osim.TimeSeriesTable()
table.setColumnLabels(('col1', 'col2', 'col3', 'col4'))
row = osim.RowVector([1, 2, 3, 4])
table.appendRow(0.0, row)
row = osim.RowVector([2, 3, 4, 5])
table.appendRow(1.0, row)
source.setTable(table)
# Reporter.
rep = osim.ConsoleReporter()
rep.setName("rep")
m.addBody(b)
m.addJoint(j)
m.addComponent(source)
m.addComponent(rep)
# Connect.
# There are multiple ways to perform the connection, especially
# for reporters.
coord = j.get_coordinates(0)
rep.updInput('inputs').connect(coord.getOutput('value'))
rep.connectInput_inputs(coord.getOutput('speed'), 'spd')
rep.connectInput_inputs(source.getOutput('column').getChannel('col1'))
rep.addToReport(
source.getOutput('column').getChannel('col2'), 'second_col')
s = m.initSystem()
# Access and iterate through AbstractInputs, using names.
expectedLabels = [
'/model/jointset/pin/pin_coord_0|value', 'spd',
'/model/source|column:col1', 'second_col'
]
i = 0
for name in rep.getInputNames():
# Actually, there is only one input, which we connected to 4
# channels.
assert rep.getInput(name).getNumConnectees() == 4
for j in range(4):
assert (rep.getInput(name).getLabel(j) == expectedLabels[j])
i += 1
# Access concrete Input.
# Input value is column 2 at time 0.
assert (osim.InputDouble.safeDownCast(rep.getInput('inputs')).getValue(
s, 3) == 2.0)
def test_TableSourceReporter(self):
m = osim.Model()
# Source.
source = osim.TableSource()
source.setName("source")
table = osim.TimeSeriesTable()
table.setColumnLabels(('col1', 'col2', 'col3', 'col4'))
row = osim.RowVector([1, 2, 3, 4])
table.appendRow(0.0, row)
row = osim.RowVector([2, 3, 4, 5])
table.appendRow(1.0, row)
source.setTable(table)
# Reporter.
c_rep = osim.ConsoleReporter()
c_rep.setName("c_rep")
t_rep = osim.TableReporter()
t_rep.setName("t_rep")
# Add.
m.addComponent(source)
m.addComponent(c_rep)
m.addComponent(t_rep)
# Connect.
c_rep.updInput("inputs").connect(
source.getOutput("column").getChannel("col1"))
t_rep.updInput("inputs").connect(
source.getOutput("column").getChannel("col2"))
# Realize.
s = m.initSystem()
s.setTime(0.5)
m.realizeReport(s)
# Test.
# This value is the average of col2 (2.0 and 3.0).
assert t_rep.getReport().getRowAtIndex(0)[0] == 2.5
# Build model with components created above.
# ---------------------------------------------------------------------------
arm.addBody(humerus)
arm.addBody(radius)
arm.addJoint(shoulder) # Now required in OpenSim4.0
arm.addJoint(elbow)
arm.addForce(biceps)
arm.addController(brain)
# ---------------------------------------------------------------------------
# Add a console reporter to print the muscle fibre force and elbow angle.
# ---------------------------------------------------------------------------
# We want to write our simulation results to the console.
reporter = osim.ConsoleReporter()
reporter.set_report_time_interval(1.0)
reporter.addToReport(biceps.getOutput("fiber_force"))
elbow_coord = elbow.getCoordinate().getOutput("value")
reporter.addToReport(elbow_coord, "elbow_angle")
arm.addComponent(reporter)
# ---------------------------------------------------------------------------
# Add display geometry.
# ---------------------------------------------------------------------------
bodyGeometry = osim.Ellipsoid(0.1, 0.5, 0.1)
bodyGeometry.setColor(osim.Gray)
#humerusCenter = osim.PhysicalOffsetFrame()
#humerusCenter.setName("humerusCenter")
#humerusCenter.setParentFrame(humerus)
