Hi Dylan, Based on my understanding, the .sto file generated by the MocoStudy.solve() is a MocoTrajectory file (e.g. a table with state and control values over time). If you just want to visualize the trajectory without resolving the problem, you can read in the .sto file using MocoTrajectory("file...

Hi all, I'd like to visualize an already made MOCO solution storage file , but can not seem to get the visualize() function working. All of the available examples require that you first solve a MOCO study, then visualize the solution. The documentation page says you should be able to do visualize(mo...

Hi all, I have a MATLAB script that produces a looping visualizer motion (it is a MOCO solution storage file). This visualization will loop until closed as of right now. I would like to export this visual loop (about one second long) as either a video file or collection of separate images (much like...

Hi Thomas, I've been spending time converting the ControllerGH2010.scone and associated C++ functions to a MATLAB scripting set for some use in personal projects. I have had a relatively straightforward time so far (thanks to the GitHub repository and documentation), however I cannot seem to find th...

The actual feedback gains and connections of the reflexes are defined inside the .scone scenario. An example can be found in Tutorial 4 , which implements the control strategy developed by [Geyer & Herr 2010]. The reflexes depend on the current state of the leg, the transitions between the states a...

Hello all, I am current doing a dive on the math behind muscle input calculations in SCONE's GitHub repository. Specifically, I am interested in the calculations performed in the MuscleReflex function. Here is the section I am referring to: From MuscleReflex.cpp void MuscleReflex::ComputeControls( d...

Hi, I would like to know where I can find more information on how muscle or joint actuator activation magnitudes (usually excitation between -1 and 1) can be converted or calculated as force (N) and torque (Nm). More specifically, I am working with SCONE to create an ankle joint actuator that conver...

I see your point -- the GaitStateController indeed automatically creates Controllers for both legs. Even though the control parameters can be different for left and right, the structure currently cannot. You can still detect the side inside a ScriptController (it's a parameter during initialization...

The way to go is to add a CoordinateActuator to the OpenSim model, which acts as a motor for a specific coordinate (or degree-of-freedom / DOF, as they're called in SCONE). You can then control this actuator in SCONE with a ScriptController via a lua_dof . Inside init() you get the lua_dof: ankle_m...

Hi Thomas, I am trying to create a optimization problem that uses the Human0914 model with disabled tibia_ant_r, gastroc_r, and soleus_r muscles. Instead, I would like to model the right ankle pin joint as a direct torque controlled "motor" example. Working from the balance controller example, I att...