# The .sto File Format

The results of a SCONE simulation are stored in the STO File format, which is a row/column based format, in which the data type is stated in the column headers:

Channel Name | Data Type |
---|---|

`time` | Time [s] |

`<dof>` | Value of a specific Degree of Freedom during the simulation in [rad] or [m] |

`<dof>_u` | Derivative (speed) of a specific Degree of Freedom during the simulation in [rad/s] or [m/s] |

`.activation` | Current activation [0..1] of a muscle |

`.fiber_length` | Current length [m] of the contractile element of the muscle |

`.fiber_length_norm` | Current length of the contractile element of the muscle, normalized by optimal fiber length |

`.fiber_velocity` | Current lengthening velocity [m/s] of the contractile element of the muscle |

`.fiber_velocity_norm` | Current lengthening velocity of the contractile element of the muscle, normalized by optimal fiber length |

`.excitation` | Current excitation [0..1] of the muscle |

`.F` | Normalized contraction force [0..1] of a muscle |

`.L` | Normalized CE length of a muscle |

`.V` | Normalized contraction velocity of a muscle |

`.com_pos_*` | Center of Mass position [m] of a body |

`.lin_vel_*` | Linear velocity [m/s] of the Center of Mass of a body |

`.ori_*` | Global orientation of a body, stored as a rotation vector [rad] |

`.ang_vel_*` | Angular velocity [rad/s] of a body |

`.load` | Joint load [BW], normalized by weight, i.e. `load = joint_force / ( model_mass * g )` |