CorrectionControllers

[Tiago Malaquias]

Hey everyone,

About the CorrectionControllers, I am running a torque driven forward simulation and I want to add some correction controllers to some of my DoF (not to all of them).

Theoretically I could just specify the ones I want (in the forward setup file) like in the following example (in this case I have a single leg model and I only want to correct for 3 DoF in the tibia):

<ControllerSet name="Controllers">
<objects>
<ControlSetController>
<controls_file>RRA_controls.xml</controls_file>
</ControlSetController>
<CorrectionController>
<isDisabled>false</isDisabled>
<actuator_list>tibia_r_tilt_corrector tibia_r_list_corrector tibia_r_rotation_corrector</actuator_list>
<kp>100</kp>
<kv>20</kv>
</CorrectionController>
</objects>
</ControllerSet>

However, the line that should be reading my actuator list is not being used <actuator_list>...</actuator_list>. Specifying isDisabled to false and specifying kp and kv will set a correction controller to all the DoF in the model with the same kp and kv.

Is there any solution for this?

Sorry if this question was already answered in the Forum, I couldn't find it.

Cheers,
Tiago

[Dimitar Stanev]

Hi,

The default behavior of the controller is to actuate all DOFs and you can't change that.

https://github.com/opensim-org/opensim- ... r.cpp#L221

You will probably have to implement your own version of the controller as a plugin.

https://simtk-confluence.stanford.edu/d ... ng+Plugins
https://simtk-confluence.stanford.edu/d ... ng+Plugins

[Tiago Malaquias]

Thanks Dimitar!

I was already thinking about the plugin.. wanted to avoid that.

Cheers,
Tiago