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
62 stars 5 forks source link

how to transform the motion trajectory generated by opensim into mujoco for motion #34

Closed 2802029572 closed 1 month ago

2802029572 commented 4 months ago

Dear Author: Hi, I use myoconverter to transform opensim model into mujoco model, please tell me how to transform the motion trajectory generated by opensim into mujoco for motion, thanks!

HuaweiWang commented 1 month ago

Hi,

We haven't tried the process that you mentioned. This is more relevent to the MuJoCo simulation platform, in term of what data you can use. Please refer to their document for more information: https://mujoco.readthedocs.io/en/stable/overview.html

Hope it helps!

Best, Huawei

Vittorio-Caggiano commented 1 month ago

@2802029572 use of mot angles (if the mujoco file has the same joint conventions as opensim) can be done by simply transform euler angles to quaternion. This is what is typically done for imitation learning in myosuite