Inquiry About SconePy for Exoskeleton Assistance Simulation and Controller Implementation

[liu zhixiang]

Dear Thomas,

I hope you are doing well.

I am currently working on an exoskeleton assistance simulation project and exploring the possibility of using SconePy. I would like to know whether it is feasible to implement various controllers from .scone files using Python, specifically to adjust muscle control.

Additionally, I am interested in whether SconePy allows for extracting joint angle changes and muscle activations as inputs for training a deep learning model. Furthermore, would it be possible to generate exoskeleton torques based on these models and feed them back into the SCONE simulation for real-time control?

Could you please provide guidance on whether these features are supported, or recommend any approaches within the SCONE framework that could help achieve these goals?

Thank you for your time, and I look forward to your response.

[Thomas Geijtenbeek]

With regards to controllers: yes, it is possible to implement .scone controllers directly using sconepy. It is also possible to use .scone controllers in combination with sconepy. The advantage of the latter approach is that .scone controllers have higher performance than Python alternatives.

You can access the joint velocities and muscle activations via sconepy.Model.dof_velocity_array() and sconepy.Model.muscle_activation_array(). For real-time control, you can set the actuator values using sconepy.Model.set_actuator_inputs().

For a complete list of all the available function calls, see:

https://scone.software/doku.php?id=doc:sconepy

If you encounter any missing functionality in the API, please let me know, and I will consider adding it to a future release.