search

MyoHub / myoconverter

A tool to convert opensim 4.0+ MSK models into MuJoCo format with optimized muscle kinematics and kinetics
Apache License 2.0
63 stars 5 forks source link

TorqueActuator #24

Open tSchmied opened 1 year ago

tSchmied commented 1 year ago

Hi! I wanted to try the converter using an OpenSim-model which has TorqueActuators. As the TorqueActuator parser has not been implemented, is there a way to include the Torque Actuators from the OpenSim-model into the MuJoCo model format?

aikkala commented 12 months ago

I'm not quite sure how to convert / implement a parser for the TorqueActuators. It seems like modelling the OpenSim TorqueActuator as a actuator/motor in MuJoCo could be a reasonable approximation, if you set the site and refsite parameters correctly.

Any help implementing this parser would be greatly appreciated.