Great! While this approach can be useful depending on your purpose, please keep the following in mind: The result from this measure is always positive, i.e. you will get the absolute value of the acceleration; The "symmetric = 1" computes the acceleration for left and right sides. If you want only o...

Unfortunately, you cannot directly access the Dof accelerations in SconePy at this time. You can however quite easily compute the accelerations by taking the dof velocities, subtracting the dof velocities of the previous frame, and dividing by the frame time, e.g.: current_dofs = model.dof_velocity_...

All the examples you mention use the same reflex-based control strategy, which consists of a combination of force, length and velocity reflexes, with a constant excitation. The difference between the examples is that the control parameters are optimized for different objectives, hence the difference...

Yes, this is possible: open a .scone scenario that uses an OpenSim4 model, and go to Tools -> Convert to Hyfydy... This will work only for supported elements, so you might need to manually adjust the .hfd model afterwards. For example, cylindrical wrapping surfaces are not supported in Hyfydy. It sh...

In that case, you can use the same approach as in the backpack example. You would need to apply an external force instead of a moment in your script, based on how far the backpack is from the target position and how fast it is moving. Alternatively, if you're using Hyfydy, you can set the position o...

I see, but what should be causing the backpack to move up and down? Is there a motor in the backpack, or is it due to the motion of the torso?

Can you explain a bit which movement your backpack should perform? There are various ways to control the position, both directly and indirectly, but it depends on your use case which is best. For example, there already is a tutorial on how to maintain balance by controlling a backpack with gyroscope...

The question is what you want to do with your model. If your intention is to use a reflex-based gait controller, then using the H1922 model is the right way to go, since there already is a functioning reflex controller for that model. The easiest way to create an OpenSim version is probably to take ...

The research for that controller is submitted for publication, but still under review. It should be made available anytime soon!

You can create a single-sided ReflexController by adding a dual_sided = 0 statement, and then specifying the side in the reflex