There are two main components of the
OsimModelclass responsible for low level communication with OpenSim simulator.
OsimEnvclass responsible for management of the user interface for running reinforcement learning algorithms.
This page is under construction.
List names of model elements including: joints, bodies, muscles, forces, and markers.
Get an element by name. To better understand what can you do with these entities, please refer to OpenSim documentation. You can find list of all function under the given class, for example, for muscles please refer to this file.
Set muscle excitations.
Set muscle activations directly in the state.
Get muscle activations in the current state.
Get a dictionary describing the state of joints, bodies, muscles, forces, and markers.
Get the current state of the environment.
Set the state to
Run one step of the simulation.
You can access the
OsimModel associated with
OsimEnv you can access