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Hi SCONE users,

I'm wondering if we can use contact force as reflex in muscles. If it is doable, can you help me how to do that?

Best

This is definitely possible, but a new reflex type would have to be implemented in SCONE.

At this moment, contact force is only available for state transition in the GaitStateController.

Hi Thomas,

Thank you for your response,
Is it possible to implement it using script controller? Do you have any comment regarding the implementation?

Best

It is definitely possible to do this via a ScriptController, the most difficult part is simulating the neural delay. Without neural delay, it is rather straightforward to do, using LuaBody:contact_force() and LuaMuscle:add_input().

The script tutorials should contain enough information to get you started (along with the reference manual):

https://scone.software/doku.php?id=tutorials:script