Hi, I am working on my phd thesis project and I have to create human-like xml files for my 10 experimental subject. After I create the most realistic human model with my data for the subjects, I will apply a specific force to a specific part of a body. At the end of the day, I will use different AI algorithms on human and humanoid. Right now, my biggest problem is to find how to model: - Joints (damping, armature, stiffness) - Actuators, motors, gears (Do I have to define a gear for joints?) - Friction coefficients and parameters Whom should I ask for help? I am trying to play with parameters after reading the documentation but I need expert advice. Could somebody tell me where to start? I add my subject 1 xml file, and I will add arms (as a fixed body part, without a joint) Happy new year, Best Gokce
Hi, I created my human subject file. I put a keyframe with angle information for squat position. My problem is now, my model is jumping after I start the simulation when I start with the position of key frame. What is wrong? It is not jumping, it is falling without key frame start position. I couldn't understand the problem. Please somebody help me I also thought that I had a problem with key frame free joint unit quaternion data, so I changed the free joint to 3 joint, 2 hinge 1 slide, but still my model is jumping. Which parameter is related with this issue?
Ok, I found the problem, gear value for knee is to high :/ But in CMU (deepmind control suite) humanoid model they use the same ratio of gear, so they are somehow not suited for my model My new problem is now, how to calculate approximate gear values for a specific subject, if I have the inertia, mass, volume values for each body part ?
I have a simple problem, after I run Code: ./simulate ../model/BodymodelCMUSub1rootslide.xml , the human is successfully loaded into the simulator, however, it can not stand. How to make it stand there instead of falling down?
hi, sorry for my late reply, I just saw it. In the mujoco200 simulator interface there are buttons like pause, reset and run. Use them