myoBack and myoBack-exosuit model #28
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back/assets/myoback_assets.xml
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| <mesh name="torso_geom_11_thoracic2_s" file="../myo_sim/meshes/thoracic2_s.stl" scale="0.87 0.87 0.87"/> | ||
| <mesh name="torso_geom_12_thoracic1_s" file="../myo_sim/meshes/thoracic1_s.stl" scale="0.87 0.87 0.87"/> | ||
| <mesh name="torso_geom_13_ribcage_s" file="../myo_sim/meshes/ribcage_s.stl" scale="0.87 0.87 0.87"/> | ||
| <mesh name="lower_exo_belt_geom_1" file="../myo_sim/meshes/LowerExoBelt.stl" scale="0.0013 0.0013 0.0013"/> |
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should those assets be moved into a myoback_assets_exosuit?
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ff16d34
is this what you have in mind?
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in terms of muscle attaching outside of the body, is this what you are looking for? (using the abdomen muscle as an example)
Image before adjustments for comparison:
back/assets/myoback_body.xml
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| </body> | ||
| <body name="lumbar4" pos="0.009 0.0321 0"> | ||
| <inertial pos="0.0170296 0.018 0" quat="0.707107 0 0 0.707107" mass="1.799" diaginertia="0.01643 0.01123 0.0052"/> | ||
| <joint name="L4_L5_FE" pos="0 0 0" axis="0 0 1" limited="false" range="-100000 100000"/> |
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this range (along with many others) seems to be too big and can produce numerical instabilities. Is it also physiological to be so big?
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Fixed the ranges here to a reasonable one, and change some muscle jumping issues:
6a6f4dd
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@cherylwang20 can you also add a readme with the information on the model and how it was validated? |
a04a100 here |
back/README.md
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| ## General: | ||
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| The myoArm mujoco musculoskeletal (MSK) model is generated from: Constrained Lumbar Spine model - 210 [https://simtk.org/projects/lumbarspine] from Opensim. |
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is this myoArm or myoBack (I think it is trunk though as it has also abdomen and not only back
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Sorry it was a typo, updated the changes here:
cf66ed0
cherylwang20
changed the title
cherylwang20
changed the title
README.md
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| @@ -15,6 +15,7 @@ The models present in the library are: | |||
| | **MyoLeg** <br> - 20 Degree of Freedom (DoF) <br> - 80 muscles | <img src="https://user-images.githubusercontent.com/12837145/236839645-e34eab3f-0358-4ca8-8ae0-68a5c08585e4.png" width="200">| | |||
| | **MyoArm** <br> - 27 Degree of Freedom (DoF) <br> - 63 muscles | <img src="https://github.com/MyoHub/myo_sim/assets/23240128/1f57c639-b7de-4bbb-a3c2-d2c29716e6c8" width="200">| | |||
| | **MyoOSL** <br> - 19 Degree of Freedom (DoF) <br> - 54 muscles, 2 torque actuators | <img src="https://github.com/elladyr/myo_sim/assets/5383997/ec9dfc65-94ba-457f-8375-594c0e3a89b5" width="200">| | |||
| | **MyoBack** <br> - 3 Degree of Freedom (DoF) <br> - 210 muscles, 18 joints | <img src="https://github.com/cherylwang20/myo_sim/blob/cec3ce211a516a8798ed2edf9486a0814a0965da/MyoBack.png?raw=true" width="200">| | |||
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for the description let's use only the degrees of freedom like in the other descriptions
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The model actually have 18 joints, but three main virtual joints: flexion extension, lateral bending, and axial
rotation, are controlled and mapped onto all other ones.
Let me know what is a better way of representing writing it.
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we have the other models expressing the model in terms of DOF ... let's do that in this case too
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I also have created an env to achieve a simple 'upright' position for this model. Do you want me to add it as well? |
if it is a task, better to have it in myosuite |
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