LuaModel
Model type for use in lua scripting.
See ScriptController and ScriptMeasure for details on scripting.
Public Functions
| Function | Description | |
|---|---|---|
| LuaNumber time() | get the current simulation time [s] | |
| LuaNumber delta_time() | get the previous simulation delta time [s] | |
| LuaNumber max_duration() | get the max_duration of the simulation objective | |
| LuaVec3 com_pos() | get the current com position [m] | |
| LuaVec3 com_vel() | get the current com velocity [m/s] | |
| LuaNumber mass() | get the model mass [kg] | |
| LuaVec3 gravity() | get the gravitational pull [m/s | 2] |
| void set_gravity(LuaVec3 g) | get the gravitational pull [m/s | 2] |
| LuaActuator actuator(int index) | get the actuator at index (starting at 1) | |
| LuaActuator find_actuator(LuaString name) | find an actuator with a specific name | |
| int actuator_count() | number of actuators | |
| LuaDof dof(int index) | get the muscle at index (starting at 1) | |
| LuaDof find_dof(LuaString name) | find a muscle with a specific name | |
| int dof_count() | number of dofs | |
| LuaMuscle muscle(int index) | get the muscle at index (starting at 1) | |
| LuaMuscle find_muscle(LuaString name) | find a muscle with a specific name | |
| int muscle_count() | number of muscles | |
| LuaBody body(int index) | get the body at index (starting at 1) | |
| LuaBody find_body(LuaString name) | find a body with a specific name | |
| int find_body_index(LuaString name) | find a body index with a specific name | |
| int body_count() | number of bodies | |
| LuaBody ground_body() | get the ground (static) body | |
| LuaJoint joint(int index) | get the joint at index (starting at 1) | |
| LuaJoint find_joint(LuaString name) | find a joint with a specific name | |
| int joint_count() | number of joints | |
| LuaSpring get_interaction_spring() | get the model interaction spring | |
| void set_custom_value(LuaString name, LuaNumber value) | store a custom value that can be accessed in other scripts | |
| LuaNumber get_custom_value(LuaString name) | retrieve a specific custom value that has previously been set | |
| bool has_custom_value(LuaString name) | check a specific custom value exists | |
| LuaNumber find_two_way_neural_delay(LuaString name) | get two-way neural delay from the neural_delays section in the model, returns zero if not found | |
| LuaNumber find_one_way_neural_delay(LuaString name) | get one-way neural delay from the neural_delays section in the model, returns zero if not found | |
| LuaSensor create_muscle_force_sensor(LuaString name) | create a sensor for delayed muscle force | |
| LuaSensor create_muscle_length_sensor(LuaString name) | create a sensor for delayed muscle length | |
| LuaSensor create_muscle_velocity_sensor(LuaString name) | create a sensor for delayed muscle velocity | |
| LuaSensor create_muscle_activation_sensor(LuaString name) | create a sensor for delayed muscle activation | |
| LuaDelayedSensor create_delayed_muscle_force_sensor(LuaString muscle, LuaNumber delay) | create a sensor for delayed muscle force | |
| LuaDelayedSensor create_delayed_muscle_length_sensor(LuaString muscle, LuaNumber delay) | create a sensor for delayed muscle length | |
| LuaDelayedSensor create_delayed_muscle_velocity_sensor(LuaString muscle, LuaNumber delay) | create a sensor for delayed muscle velocity | |
| LuaDelayedSensor create_delayed_muscle_activation_sensor(LuaString muscle, LuaNumber delay) | create a sensor for delayed muscle activation | |
| LuaDelayedActuator create_delayed_muscle_actuator(LuaString muscle, LuaNumber delay) | create an actuator with neural delay |
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