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Great, that looks correct. Please note that you can also simply use grf_test:length() and gravity():length() to the lengths of these vectors. I have another question why my calculated and analyzed windows are not equal? calcn_l = model:find_body( "calcn_l" ) foot_com = calcn_l:com_pos().x model_com...

The states are computed in the GaitStateController, so if you'd like the additional states from the Song controller then you'd have to implement the state transitions yourself. Please note that you can still use normal ReflexController instances as children of your ScriptController (just like with ...

The states are computed in the GaitStateController, so if you'd like the additional states from the Song controller then you'd have to implement the state transitions yourself. Please note that you can still use normal ReflexController instances as children of your ScriptController (just like with ...

The states are computed in the GaitStateController, so if you'd like the additional states from the Song controller then you'd have to implement the state transitions yourself. Please note that you can still use normal ReflexController instances as children of your ScriptController (just like with ...

Hi, how can I access some of the states of the leg in a lua script, such as gait phase, load, etc.? I recently tried to implement Song's article[1] in SCONE again and found that I can't go to fully implement it according to GaitStateConreoller, so I would like to implement it using lua script, thank...

One more question, I want to develop some new modules based on your Reference Manual that are usable in software, for example to improve MuscleReflex, how should I do it?

Is it possible to develop such a function, similar to the matlab workspace, it allows user to see the simulation process or after the end of the simulation of some parameters, not necessarily the parameters of the controller, but also can get some user-defined parameters. Thank you.