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MyoHub / myosuite

MyoSuite is a collection of environments/tasks to be solved by musculoskeletal models simulated with the MuJoCo physics engine and wrapped in the OpenAI gym API.
https://sites.google.com/view/myosuite
Apache License 2.0
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Simulating musculoskeletal model using mocap data in myosuite #153

Open SuryaPratapSingh37 opened 4 months ago

SuryaPratapSingh37 commented 4 months ago

Hi,

Firstly, kudos for your amazing work! I'm curious how can I transfer marker/keypoints-based real-world motion capture data to MyoSuite for simulating musculoskeletal models, similar to the process in OpenSim?

Additionally, how can I command the joints of these models to follow specific trajectories. Do you have any reference codes or guidance on achieving this?

Vittorio-Caggiano commented 3 months ago

Hi @SuryaPratapSingh37 thanks for your support!

In order to achieve that transfer you will need to add the markerset (mocap bodies) specific for your motion capture system to the muskuloskeletal models and from there use Inverse Kinematics potentially together with other optimizations (see https://arxiv.org/html/2402.17192v1).

We are planning to release more tools to support those functionalities soon

connected issue to: https://github.com/MyoHub/myo_sim/issues/21#issue-2167878056