If I am correct you can find the actuator just by using the actuated dof's name, thus: target_actuator = model:find_actuator("ankle_r") Another way to check which actuators are present, you can loop over the actuators in a lua script and display the names scone.debug("\nActuators:") for i = 1, model...

nice!

I was thinking more in terms of separate ScriptControllers during different phases of the gait. Do they also not have any access to each other's data? I am not sure whether I really need it, but just out of curiosity so that I know what is possible.

Thanks for the explanation!

Hi, I was wondering how the optimization variables definition works exactly. I extracted this, as an example, from the ControllerGH2010: MuscleReflex { target = iliopsoas source = hamstrings delay = 0.005 KL = ~-4.0<-10,10> L0 = ~0.85<0,2> From the Standing High Jump tutorial I got that the optimiza...

Computing my own state is indeed what I did first and that works great, but I thought that it would be nice if it could be accessed. Making the controller part of the GaitStateController is a nice way of implementing as well. Just one thing I was wandering, are the global variables declared in that ...

Hi Thomas,

I was wondering if it is possible to access the leg state in Lua, because the leg is not a body that you can access.
The reason of asking is that I want a specific part of my code to work only during certain phases of the gait.

Kind regards,
Nathan

It seems that there is a bug with the is_actuated method(). SCONE crashes when trying to check if a DOF is actuated through the is_actuated() method Scone file: CmaOptimizer { signature_prefix = DATE_TIME SimulationObjective { max_duration = 20 # Model used in simulation OpenSimModel { model_file = ...

Hi Niels,

If you use the tutorial files provided through the installation then it should work straight away. At least with me it did, and it should.

Kind regards,
Nathan

I tried adding the absolute path of the 'require' files using a solution found on the internet: package.path = package.path .. ";<... absolute path ....>/data/lua_files/?.lua;" which solved the issue of flat fitness. However, this approach seems to mess with the optimizer as well, since the model no...