TorqueActuator

[tSchmied]

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]

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.