pySimBlocks 0.1.0__py3-none-any.whl

examples/advanced/sofa/gui/finger/Finger.py

@@ -0,0 +1,108 @@
+import os
+
+import numpy as np
+import Sofa
+
+dir_path = os.path.dirname(os.path.abspath(__file__))
+path = os.path.join(dir_path, 'mesh')
+
+
+def createScene(rootNode):
+    from FingerController import FingerController
+
+    rootNode.addObject("RequiredPlugin", name='SoftRobots')
+    rootNode.addObject("RequiredPlugin", name='SofaPython3')
+    rootNode.addObject('RequiredPlugin', pluginName=[
+                            "Sofa.Component.AnimationLoop",  # Needed to use components FreeMotionAnimationLoop
+                            "Sofa.Component.Constraint.Lagrangian.Correction",  # Needed to use components GenericConstraintCorrection
+                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components GenericConstraintSolver
+                            "Sofa.Component.Engine.Select",  # Needed to use components BoxROI
+                            "Sofa.Component.IO.Mesh",  # Needed to use components MeshSTLLoader, MeshVTKLoader
+                            "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
+                            "Sofa.Component.Mass",  # Needed to use components UniformMass
+                            "Sofa.Component.ODESolver.Backward",  # Needed to use components EulerImplicitSolver
+                            "Sofa.Component.Setting",  # Needed to use components BackgroundSetting
+                            "Sofa.Component.SolidMechanics.FEM.Elastic",  # Needed to use components TetrahedronFEMForceField
+                            "Sofa.Component.SolidMechanics.Spring",  # Needed to use components RestShapeSpringsForceField
+                            "Sofa.Component.Topology.Container.Constant",  # Needed to use components MeshTopology
+                            "Sofa.Component.Visual",  # Needed to use components VisualStyle
+                            "Sofa.GL.Component.Rendering3D",  # Needed to use components OglModel, OglSceneFrame
+                            "Sofa.Component.StateContainer",
+                            'Sofa.Component.Mapping.Linear'
+                        ])
+    rootNode.addObject('VisualStyle',
+                       displayFlags='showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe')
+
+    rootNode.addObject('FreeMotionAnimationLoop')
+    rootNode.addObject('DefaultVisualManagerLoop')
+
+    rootNode.addObject('GenericConstraintSolver', tolerance=1e-5, maxIterations=100)
+
+    rootNode.gravity = [0, -9810, 0]
+    rootNode.dt = 0.01
+
+    ##########################################
+    # FEM Model                              #
+    ##########################################
+    finger = rootNode.addChild('finger')
+    finger.addObject('EulerImplicitSolver', name='odesolver', rayleighMass=0.1, rayleighStiffness=0.1)
+    finger.addObject('SparseLDLSolver', template='CompressedRowSparseMatrixMat3x3d')
+
+    # Add a component to load a VTK tetrahedral mesh and expose the resulting topology in the scene .
+    finger.addObject('MeshVTKLoader', name='loader', filename=os.path.join(path, 'finger.vtk'))
+    finger.addObject('MeshTopology', src='@loader', name='container')
+
+    # Create a MechanicaObject component to stores the DoFs of the model
+    finger.addObject('MechanicalObject', name='tetras', template='Vec3', showIndices=False, showIndicesScale=4e-5)
+
+    finger.addObject('UniformMass', totalMass=0.075)
+    finger.addObject('TetrahedronFEMForceField', template='Vec3', name='FEM', method='large', poissonRatio=0.45,
+                     youngModulus=600)
+    finger.addObject('BoxROI', name='roi', box=[-15, 0, 0, 5, 10, 15], drawBoxes=True)
+    finger.addObject('RestShapeSpringsForceField', points=finger.roi.indices.getLinkPath(), stiffness=1e12)
+    finger.addObject('GenericConstraintCorrection')
+
+    ##########################################
+    # Cable                                  #
+    ##########################################
+
+    cable = finger.addChild('cable')
+    cable.addObject('MechanicalObject',
+                    position=[
+                        [-17.5, 12.5, 2.5],
+                        [-32.5, 12.5, 2.5],
+                        [-47.5, 12.5, 2.5],
+                        [-62.5, 12.5, 2.5],
+                        [-77.5, 12.5, 2.5],
+
+                        [-85.5, 12.5, 6.5],
+                        [-85.5, 12.5, 8.5],
+                        [-83.5, 12.5, 4.5],
+                        [-83.5, 12.5, 10.5],
+
+                        [-77.5, 12.5, 12.5],
+                        [-62.5, 12.5, 12.5],
+                        [-47.5, 12.5, 12.5],
+                        [-32.5, 12.5, 12.5],
+                        [-17.5, 12.5, 12.5]])
+
+    cable.addObject('CableConstraint', name="aCableActuator",
+                    indices=list(range(0, 14)),
+                    minForce=0,  # Set that the cable can't push
+                    pullPoint=[0.0, 12.5, 2.5])
+    cable.addObject('BarycentricMapping')
+
+    controller = FingerController(rootNode, cable.aCableActuator, finger.tetras)
+    finger.addObject(controller)
+
+    ##########################################
+    # Visualization                          #
+    ##########################################
+    fingerVisu = finger.addChild('visu')
+
+    # Add to this empty node a rendering model made of triangles and loaded from a stl file.
+    fingerVisu.addObject('MeshSTLLoader', filename=os.path.join(path, "finger.stl"), name="loader")
+    fingerVisu.addObject('OglModel', src="@loader", color=[0.0, 0.7, 0.7, 1])
+    fingerVisu.addObject('BarycentricMapping')
+
+    return rootNode, controller

examples/advanced/sofa/gui/finger/FingerController.py

@@ -0,0 +1,53 @@
+import numpy as np
+from pySimBlocks.blocks.systems.sofa import SofaPysimBlocksController
+
+import Sofa
+
+from pathlib import Path
+
+BASE_DIR = Path(__file__).resolve().parent
+
+
+
+
+class FingerController(SofaPysimBlocksController):
+
+    def __init__(self, root, actuator, mo, tip_index=121, name="FingerController"):
+        super().__init__(root, name=name)
+        self.project_yaml = str((BASE_DIR / '../sofa_plant/project.yaml').resolve())
+
+        self.mo = mo
+        self.actuator = actuator
+        self.tip_index = tip_index
+        self.dt = root.dt.value
+        self.verbose = True
+
+        # Inputs & outputs dictionaries
+        self.inputs = { "cable": None }
+        self.outputs = { "tip": None, "measure": None }
+
+
+    def get_outputs(self):
+        tip = self.mo.position[self.tip_index].copy()
+        self.outputs["tip"] = np.asarray(tip).reshape(-1, 1)
+        self.outputs["measure"] = np.asarray(tip[1]).reshape(-1, 1)
+
+    def set_inputs(self):
+        # 1. READ INPUT -------------------------------------
+        val = self.inputs["cable"]
+
+        # Safe default for first initialization call
+        if val is None:
+            # ↓↓↓ Valeur par défaut pour l’initialisation
+            val = 0.0
+
+        # Convert input to Sofa format
+        if isinstance(val, np.ndarray):
+            processed = val.flatten().tolist()
+        elif isinstance(val, (list, tuple)):
+            processed = val
+        else:
+            processed = [float(val)]
+
+        # Apply to actuator
+        self.actuator.value = processed

examples/advanced/sofa/gui/finger/parameters_auto.py

@@ -0,0 +1,22 @@
+import numpy as np
+
+step_value_before = np.array([[0]])
+step_value_after = np.array([[8.0]])
+step_start_time = 0.4
+
+error_num_inputs = 2
+error_signs = np.array([1.0, -1.0])
+
+Kp_gain = np.array([[0.5]])
+
+Ki_gain = np.array([[0.8]])
+
+discrete_integrator_initial_state = np.array([[0.0]])
+
+sum_num_inputs = 2
+
+sofa_input_keys = np.array(['cable'])
+sofa_output_keys = np.array(['tip', 'measure'])
+
+dt = 0.01
+T = 5.0

examples/advanced/sofa/gui/sofa_plant/run.py

@@ -0,0 +1,14 @@
+from pathlib import Path
+from pySimBlocks.project import load_simulator_from_project
+from pySimBlocks.project.plot_from_config import plot_from_config
+
+try:
+    BASE_DIR = Path(__file__).parent.resolve()
+except Exception:
+    BASE_DIR = Path("")
+
+sim, plot_cfg = load_simulator_from_project(BASE_DIR / "project.yaml")
+
+logs = sim.run()
+if True and plot_cfg is not None:
+    plot_from_config(logs, plot_cfg)

examples/advanced/sofa/python/Finger.py

@@ -0,0 +1,107 @@
+import os
+import Sofa
+
+dir_path = os.path.dirname(os.path.abspath(__file__))
+# sys.path.append(specific_path) # Si jamais besoin de fichier externe
+path = os.path.join(dir_path, 'mesh')
+
+
+def createScene(rootNode):
+    from FingerController import FingerController
+
+    rootNode.addObject("RequiredPlugin", name='SoftRobots')
+    rootNode.addObject("RequiredPlugin", name='SofaPython3')
+    rootNode.addObject('RequiredPlugin', pluginName=[
+                            "Sofa.Component.AnimationLoop",  # Needed to use components FreeMotionAnimationLoop
+                            "Sofa.Component.Constraint.Lagrangian.Correction",  # Needed to use components GenericConstraintCorrection
+                            "Sofa.Component.Constraint.Lagrangian.Solver",  # Needed to use components GenericConstraintSolver
+                            "Sofa.Component.Engine.Select",  # Needed to use components BoxROI
+                            "Sofa.Component.IO.Mesh",  # Needed to use components MeshSTLLoader, MeshVTKLoader
+                            "Sofa.Component.LinearSolver.Direct",  # Needed to use components SparseLDLSolver
+                            "Sofa.Component.Mass",  # Needed to use components UniformMass
+                            "Sofa.Component.ODESolver.Backward",  # Needed to use components EulerImplicitSolver
+                            "Sofa.Component.Setting",  # Needed to use components BackgroundSetting
+                            "Sofa.Component.SolidMechanics.FEM.Elastic",  # Needed to use components TetrahedronFEMForceField
+                            "Sofa.Component.SolidMechanics.Spring",  # Needed to use components RestShapeSpringsForceField
+                            "Sofa.Component.Topology.Container.Constant",  # Needed to use components MeshTopology
+                            "Sofa.Component.Visual",  # Needed to use components VisualStyle
+                            "Sofa.GL.Component.Rendering3D",  # Needed to use components OglModel, OglSceneFrame
+                            "Sofa.Component.StateContainer",
+                            'Sofa.Component.Mapping.Linear'
+                        ])
+    rootNode.addObject('VisualStyle',
+                       displayFlags='showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe')
+
+    rootNode.addObject('FreeMotionAnimationLoop')
+    rootNode.addObject('DefaultVisualManagerLoop')
+
+    rootNode.addObject('GenericConstraintSolver', tolerance=1e-5, maxIterations=100)
+
+    rootNode.gravity = [0, -9810, 0]
+    rootNode.dt = 0.01
+
+    ##########################################
+    # FEM Model                              #
+    ##########################################
+    finger = rootNode.addChild('finger')
+    finger.addObject('EulerImplicitSolver', name='odesolver', rayleighMass=0.1, rayleighStiffness=0.1)
+    finger.addObject('SparseLDLSolver', template='CompressedRowSparseMatrixMat3x3d')
+
+    # Add a component to load a VTK tetrahedral mesh and expose the resulting topology in the scene .
+    finger.addObject('MeshVTKLoader', name='loader', filename=os.path.join(path, 'finger.vtk'))
+    finger.addObject('MeshTopology', src='@loader', name='container')
+
+    # Create a MechanicaObject component to stores the DoFs of the model
+    finger.addObject('MechanicalObject', name='tetras', template='Vec3', showIndices=False, showIndicesScale=4e-5)
+
+    finger.addObject('UniformMass', totalMass=0.075)
+    finger.addObject('TetrahedronFEMForceField', template='Vec3', name='FEM', method='large', poissonRatio=0.45,
+                     youngModulus=600)
+    finger.addObject('BoxROI', name='roi', box=[-15, 0, 0, 5, 10, 15], drawBoxes=True)
+    finger.addObject('RestShapeSpringsForceField', points=finger.roi.indices.getLinkPath(), stiffness=1e12)
+    finger.addObject('GenericConstraintCorrection')
+
+    ##########################################
+    # Cable                                  #
+    ##########################################
+
+    cable = finger.addChild('cable')
+    cable.addObject('MechanicalObject',
+                    position=[
+                        [-17.5, 12.5, 2.5],
+                        [-32.5, 12.5, 2.5],
+                        [-47.5, 12.5, 2.5],
+                        [-62.5, 12.5, 2.5],
+                        [-77.5, 12.5, 2.5],
+
+                        [-85.5, 12.5, 6.5],
+                        [-85.5, 12.5, 8.5],
+                        [-83.5, 12.5, 4.5],
+                        [-83.5, 12.5, 10.5],
+
+                        [-77.5, 12.5, 12.5],
+                        [-62.5, 12.5, 12.5],
+                        [-47.5, 12.5, 12.5],
+                        [-32.5, 12.5, 12.5],
+                        [-17.5, 12.5, 12.5]])
+
+    cable.addObject('CableConstraint', name="aCableActuator",
+                    indices=list(range(0, 14)),
+                    minForce=0,  # Set that the cable can't push
+                    pullPoint=[0.0, 12.5, 2.5])
+    cable.addObject('BarycentricMapping')
+
+    controller = FingerController(rootNode, cable.aCableActuator, finger.tetras)
+    finger.addObject(controller)
+
+    ##########################################
+    # Visualization                          #
+    ##########################################
+    fingerVisu = finger.addChild('visu')
+
+    # Add to this empty node a rendering model made of triangles and loaded from a stl file.
+    fingerVisu.addObject('MeshSTLLoader', filename=os.path.join(path, "finger.stl"), name="loader")
+    fingerVisu.addObject('OglModel', src="@loader", color=[0.0, 0.7, 0.7, 1])
+    fingerVisu.addObject('BarycentricMapping')
+
+    return rootNode, controller

examples/advanced/sofa/python/FingerController.py

@@ -0,0 +1,48 @@
+import numpy as np
+from pySimBlocks.blocks.systems.sofa import SofaPysimBlocksController
+
+import Sofa
+
+
+class FingerController(SofaPysimBlocksController):
+
+    def __init__(self, root, actuator, mo, tip_index=121, name="FingerController"):
+        super().__init__(root, name=name)
+
+        self.mo = mo
+        self.actuator = actuator
+        self.tip_index = tip_index
+        self.dt = root.dt.value
+
+        # Inputs & outputs dictionaries
+        self.inputs = { "cable": None }
+        self.outputs = { "tip": None, "measure": None }
+
+    def prepare_scene(self):
+        if self.step_index == 10:
+            self.IS_READY = True
+
+    def get_outputs(self):
+        tip = self.mo.position[self.tip_index].copy()
+        self.outputs["tip"] = np.asarray(tip).reshape(-1, 1)
+        self.outputs["measure"] = np.asarray(tip[1]).reshape(-1, 1)
+
+    def set_inputs(self):
+        # 1. READ INPUT -------------------------------------
+        val = self.inputs["cable"]
+
+        # Safe default for first initialization call
+        if val is None:
+            # ↓↓↓ Valeur par défaut pour l’initialisation
+            val = 0.0
+
+        # Convert input to Sofa format
+        if isinstance(val, np.ndarray):
+            processed = val.flatten().tolist()
+        elif isinstance(val, (list, tuple)):
+            processed = val
+        else:
+            processed = [float(val)]
+
+        # Apply to actuator
+        self.actuator.value = processed

examples/advanced/sofa/python/closedloop.py

@@ -0,0 +1,64 @@
+import os
+
+from pySimBlocks import Model, Simulator, SimulationConfig, PlotConfig
+from pySimBlocks.blocks.systems.sofa import SofaPlant
+from pySimBlocks.blocks.sources import Step
+from pySimBlocks.blocks.operators import Sum
+from pySimBlocks.blocks.controllers import Pid
+from pySimBlocks.project import plot_from_config
+
+
+def main():
+
+    path = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'Finger.py')
+
+    # --- Create Blocks ---
+    step = Step(name="step", value_before=[[0.0]], value_after=[[8.0]], start_time=2.)
+    error = Sum(name="error", signs="+-")
+    pid = Pid("pid", controller="PI", Kp=0.3, Ki=0.8)
+
+    sofa_block = SofaPlant(
+        name="sofa_finger",
+        scene_file=path,
+        input_keys=["cable"],
+        output_keys=["tip", "measure"],
+    )
+
+    # --- Build the model ---
+    model = Model(name="sofa_finger_model")
+    for block in [step, error, pid, sofa_block]:
+        model.add_block(block)
+
+    model.connect("step", "out", "error", "in1")
+    model.connect("sofa_finger", "measure", "error", "in2")
+    model.connect("error", "out", "pid", "e")
+    model.connect("pid", "u", "sofa_finger", "cable")
+
+
+    # --- Create the simulator ---
+    dt = 0.01
+    T = 5.0
+    sim_cfg = SimulationConfig(dt, T)
+    sim = Simulator(model, sim_cfg, verbose=False)
+
+    # --- Run simulation ---
+    logs = sim.run(logging=[
+            "step.outputs.out",
+            "sofa_finger.outputs.measure",
+            "pid.outputs.u"
+        ],
+    )
+
+    # --- Inspect / print some results ---
+    plot_cfg = PlotConfig([
+            {'title': 'Ref vs Output',
+            'signals': ['step.outputs.out', 'sofa_finger.outputs.measure']},
+            {'title': 'Command',
+            'signals': ['pid.outputs.u']}
+    ])
+    plot_from_config(logs, plot_cfg)
+
+
+
+if __name__ == '__main__':
+    main()

examples/advanced/sofa/python/openloop.py

@@ -0,0 +1,58 @@
+import os
+
+from pySimBlocks import Model, Simulator, SimulationConfig, PlotConfig
+from pySimBlocks.blocks.systems.sofa import SofaPlant
+from pySimBlocks.blocks.sources import Step
+from pySimBlocks.project.plot_from_config import plot_from_config
+
+
+def main():
+
+    path = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'Finger.py')
+
+
+    # --- Create Blocks ---
+    step = Step(
+        name="step",
+        value_before=0.0,
+        value_after=1.0,
+        start_time=0.5,
+    )
+
+    sofa_block = SofaPlant(
+        name="sofa_finger",
+        scene_file=path,
+        input_keys=["cable"],
+        output_keys=["tip"],
+    )
+
+    # --- Build the model ---
+    model = Model(name="sofa_finger_model")
+    model.add_block(step)
+    model.add_block(sofa_block)
+    model.connect("step", "out", "sofa_finger", "cable")
+
+
+    # --- Create the simulator ---
+    dt = 0.01
+    T = 5.0
+    sim_cfg = SimulationConfig(dt, T)
+    sim = Simulator(model, sim_cfg)
+
+    # --- Run simulation ---
+    logs = sim.run(logging=[
+            "step.outputs.out",
+            "sofa_finger.outputs.tip",
+        ],
+    )
+
+    # --- Plotting ---
+    plot_cfg = PlotConfig([
+            {'title': 'Finger Tip Position',
+            'signals': ['step.outputs.out', 'sofa_finger.outputs.tip']}
+    ])
+    plot_from_config(logs, plot_cfg)
+
+
+if __name__ == '__main__':
+    main()

examples/basics/algebraic_function/g.py

@@ -0,0 +1,7 @@
+def g(t, dt, u1, u2):
+    y1 = 3 * u1
+    y2 = 2 * u2 + dt
+    return {
+        "y1": y1,
+        "y2": y2
+    }

examples/basics/algebraic_function/run.py

@@ -0,0 +1,14 @@
+from pathlib import Path
+from pySimBlocks.project import load_simulator_from_project
+from pySimBlocks.project.plot_from_config import plot_from_config
+
+try:
+    BASE_DIR = Path(__file__).parent.resolve()
+except Exception:
+    BASE_DIR = Path("")
+
+sim, plot_cfg = load_simulator_from_project(BASE_DIR / 'project.yaml')
+
+logs = sim.run()
+if True and plot_cfg is not None:
+    plot_from_config(logs, plot_cfg)

examples/basics/dc_motor/gui/run.py

@@ -0,0 +1,14 @@
+from pathlib import Path
+from pySimBlocks.project import load_simulator_from_project
+from pySimBlocks.project.plot_from_config import plot_from_config
+
+try:
+    BASE_DIR = Path(__file__).parent.resolve()
+except Exception:
+    BASE_DIR = Path("")
+
+sim, plot_cfg = load_simulator_from_project(BASE_DIR / "project.yaml")
+
+logs = sim.run()
+if True and plot_cfg is not None:
+    plot_from_config(logs, plot_cfg)

examples/basics/dc_motor/multiple_order.py

@@ -0,0 +1,91 @@
+import numpy as np
+import matplotlib.pyplot as plt
+
+from pySimBlocks import Model, Simulator, SimulationConfig
+from pySimBlocks.blocks.sources import Step
+from pySimBlocks.blocks.systems import LinearStateSpace
+from pySimBlocks.blocks.operators import Gain, Sum, DiscreteIntegrator
+
+
+def main():
+    # DC Motor parameters
+    R = 0.1
+    L = 0.5
+    J = 0.01
+    K = 0.1
+    a = 0.001
+
+    Kp = 0.001
+    Ki = 0.02
+
+    # Simulation parameters
+    dt = 0.01
+    T = 100.
+
+    # State-space matrices
+    A = np.array([[1-dt*R/L, -dt*K/L], [dt*K/J, 1-dt*a/J]])
+    B = np.array([[dt/L], [0]])
+    C = np.array([[0, 1]])
+
+    # Model
+    test_order = [
+        [0, 6, 2, 1, 3, 4, 5],
+        [0, 3, 2, 1, 6, 4, 5],
+        [0, 1, 2, 3, 4, 5, 6],
+        [0, 1, 2, 6, 4, 5, 3],
+        [3, 2, 0, 1, 6, 4, 5],
+        [4, 2, 6, 0, 1, 3, 5]
+    ]
+    for order in test_order:
+        ref = Step("ref", start_time=1., value_before=0., value_after=1.)
+        motor = LinearStateSpace("motor", A, B, C)
+        error = Sum("error", signs="+-")
+        kp = Gain("Kp", Kp)
+        ki = Gain("Ki", Ki)
+        integrator = DiscreteIntegrator("integrator")
+        sum = Sum("sum", signs="++")
+
+        blocks = [ref, error, kp, integrator, ki, sum, motor]
+
+        model = Model("DC Motor Control")
+        for i in order:
+            model.add_block(blocks[i])
+        model.connect("ref", "out", "error", "in1")
+        model.connect("motor", "y", "error", "in2")
+        model.connect("error", "out", "Kp", "in")
+        model.connect("error", "out", "Ki", "in")
+        model.connect("Ki", "out", "integrator", "in")
+        model.connect("integrator", "out", "sum", "in2")
+        model.connect("Kp", "out", "sum", "in1")
+        model.connect("sum", "out", "motor", "u")
+
+        # Simulator
+        sim_cfg = SimulationConfig(dt, T)
+        sim = Simulator(model, sim_cfg, verbose=False)
+
+        logs = sim.run(logging=[
+                "ref.outputs.out",
+                "motor.outputs.y",
+                "sum.outputs.out"
+            ])
+
+        time = sim.get_data("time")
+        r = sim.get_data("ref.outputs.out").squeeze()
+        w = sim.get_data("motor.outputs.y").squeeze()
+        u = sim.get_data("sum.outputs.out").squeeze()
+
+        print(w[-5:].flatten())
+
+        plt.figure()
+        plt.step(time, r, '--r', label="Reference (rad/s)", where='post')
+        plt.step(time, w, '--b', label="Motor Speed (rad/s)", where='post')
+        plt.step(time, u, '--g', label="Control Input (V)", where='post')
+        plt.xlabel("Time (s)")
+        plt.ylabel("Speed (rad/s)")
+        plt.title("DC Motor Speed Response")
+        plt.legend()
+        plt.grid()
+        plt.show()
+
+if __name__ == "__main__":
+    main()

examples/basics/dc_motor/openloop.py

@@ -0,0 +1,62 @@
+import numpy as np
+import matplotlib.pyplot as plt
+from pySimBlocks import Model, Simulator, SimulationConfig
+from pySimBlocks.blocks.sources import Step
+from pySimBlocks.blocks.systems import LinearStateSpace
+
+
+def main():
+    # DC Motor parameters
+    R = 0.1
+    L = 0.5
+    J = 0.01
+    K = 0.1
+    a = 0.001
+
+    # Simulation parameters
+    dt = 0.01
+    T = 100.
+
+    # State-space matrices
+    A = np.array([[1-dt*R/L, -dt*K/L], [dt*K/J, 1-dt*a/J]])
+    B = np.array([[dt/L], [0]])
+    C = np.array([[0, 1]])
+
+    # Blocks
+    ref = Step("command", start_time=1., value_before=0., value_after=1.)
+    motor = LinearStateSpace("motor", A, B, C)
+
+
+    # Model
+    model = Model("DC Motor Control")
+    for block in [ref, motor]:
+        model.add_block(block)
+    model.connect("command", "out", "motor", "u")
+
+    # Simulator
+    sim_cfg = SimulationConfig(dt, T, logging=[
+        "command.outputs.out",
+        "motor.outputs.y"
+    ])
+    sim = Simulator(model, sim_cfg)
+    logs = sim.run()
+
+    time = sim.get_data("time")
+    u = sim.get_data("command.outputs.out").squeeze()
+    w = sim.get_data("motor.outputs.y").squeeze()
+
+    print("Open-Loop DC Motor Response:")
+    print(w[-5:].flatten())
+
+    plt.figure()
+    plt.step(time, w, '--b', label="Motor Speed (rad/s)")
+    plt.step(time, u, '--g', label="Control Input (V)")
+    plt.xlabel("Time (s)")
+    plt.ylabel("Speed (rad/s)")
+    plt.legend()
+    plt.grid()
+    plt.title("Open-Loop DC Motor Response")
+    plt.show()
+
+if __name__ == "__main__":
+    main()