How to deactivate the muscles and directly control the joints?

[BernieChiu557]

Hi,

Firstly, huge props on your outstanding work! I'm curious if it's possible to deactivate muscles in env like MyoLeg and directly control the joints such as the humanoid env in gymnasium? I'm trying to train a policy that could produce human like gaits but want to avoid the complexity of the overactuated muscle system first.

From what I understand, I'll need to delete the muscle tags in the .xml file and add motor tags for each joints, but I'm not sure what would be the reasonable motor settings and if this plan is even feasible.

[Vittorio-Caggiano]

yes, the approach is right. You can look at the motor parameters from @robfiras locomujoco project https://github.com/robfiras/loco-mujoco/blob/5fd903cb92170abba7e4d1b02a443e6a86e56cfa/loco_mujoco/environments/data/humanoid/humanoid_torque.xml#L290