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TorqueActuator #24

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tSchmied opened this issue Oct 18, 2023 · 2 comments
Open

TorqueActuator #24

tSchmied opened this issue Oct 18, 2023 · 2 comments
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help wanted Extra attention is needed

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@tSchmied
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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
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aikkala commented Oct 19, 2023

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.

@aikkala aikkala added the help wanted Extra attention is needed label Oct 19, 2023
@aaronbest123
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I am trying to do something very similar! Has there been any updates on this issue?

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@aikkala @aaronbest123 @tSchmied