How to use Actuator Network in Raisim?

[romansabaek]

Hi, I already implemented an actuator network by referring Jemin's science robotics paper. The actuator network takes robot's position and velocity states and can estimate the actual torque properly.

But, I am wondering what is the efficient way to import this pretrained model in Raisim simulator. Since the model is implemented with Python and Raisim environment is developed with c++, it seems like there is some compatibility issue.

Do we have to use "torchscript" to import the pretrained actuator model in Raisim? Do you have some recommendation for it? I highly appreciate your help and advice.

Thanks!

[jhwangbo]

sorry for my late response. The way is to implement the network in C++ yourself using Eigen. if you use torch functions, it will be very slow