Extracting model information during inverse kinematics?

[Mhairi McInnes]

Hello,

I'm trying to get the time-varying orientation of every body in my model, after running marker-based inverse kinematics. I'm getting the data I expect, but I'm not sure my process is very efficient...

My current system (using API through python scripting) is to:
1. Run the inverse kinematics which creates a coordinates .mot file
2. Use the Analyze tool to create a states .sto file from the coordinates .mot file
3. Create a StatesTrajectory from the states .sto file, then my code looks something like this:

Code: Select all

stateTrajectory = osim.StatesTrajectory.createFromStatesTable(model, states_table)
model.initSystem()
for row in range(stateTrajectory.getSize()):
    state = stateTrajectory.get(row)
    model.realizePosition(state)
    Rot = body.getTransformInGround(state).R()

But the step where I create the stateTrajectory from the states_table seems to take ages. Is there a better way of doing this? Can I somehow get the state of the model during the inverse kinematics?

Thanks in advance for any suggestions.

Mhairi

[Carmichael Ong]

One way to do this could be using an OutputReporter (example). You can check out different outputs that you can get either in the GUI or in the documentation for the Body class.