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Learning How to Walk

Reinforcement learning environments with musculoskeletal models


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Degrees of freedom - gait9dof18musc.osim

Posted by Ish_ almost 3 years ago

Hi,

The model states that it has 9 degrees of freedom but it seems there are 10 degrees of freedom.

Pelvis_tilt - rotational Pelvis_tx - translational Pelvis_ty - translational Hip_flexion_r - rotational Knee_angle_r - rotational Ankle_angle_r - rotational Hip_flexion_l - rotational Knee_angle_l - rotational Ankle_angle_l - rotational Lumbar_extension - rotational

Please let me know if I am wrong.

Thanks

Posted by Lukasz_  over 2 years ago |  Quote

Indeed there is this coordinate but it’s locked (can’t change). It is there in the model for other purposes but it’s not used in the RL environment. Thanks for pointing out!

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