Add torque-driven actuation (per-part, mixable with muscles)#107
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Add torque-driven actuation (per-part, mixable with muscles)#107Vittorio-Caggiano wants to merge 4 commits into
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Added a conditional import for musclemimic_models in the test_equivalence.py file to ensure that tests can run without errors if the module is not available. This change enhances test robustness by skipping tests that depend on the musclemimic_models package when it is not installed.
…into mm_refactor_mjspec
Add myo<part>_torque.xml actuator files (leg, arm, torso) with one direct joint motor per independently-actuated DOF, modeled on MyoHub/myosuite's torque-branch myoskeleton. build_model() gains an `actuation` argument (None | "torque" | per-part dict) so any registered model can be built fully muscle-driven, fully torque-driven, or mixed (e.g. torque torso/arms with muscle legs) without new BuildStrategy/registry entries. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Enhance arm and torso model building functions to include a `disable_fingers` parameter, allowing for the removal of finger joints and actuators. This change is implemented in `compose.py` and `hand.py`, with corresponding updates to model loading functions. Additionally, new tests are added to verify the correct behavior of the `disable_fingers` feature and ensure it is not applicable to hand-only models.
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Summary
myo<part>_torque.xmlactuator files for leg, arm, and torso — one direct joint<general>motor per independently-actuated DOF (excludes joints driven by polynomial<equality>constraints), modeled on MyoHub/myosuite'storquebranch myoskeleton (mot_*motors, matching gear/forcerange where joint names line up, e.g. legs).build_model(name, actuation=...)now acceptsNone(muscle default), a single string ("torque"applied to every part), or a per-part dict ({"torso": "torque", "arms": "torque", "legs": "muscle"}) — no newBuildStrategy/registry entries needed, since actuation is resolved per part inside the existing builder functions.build_mirrored_child_xml) works unchanged for torque motors since<general>joint actuators have no sites/tendons to mirror.examples/torque_actuation.pydemonstrates a fully muscle-driven, fully torque-driven, and mixed (torque torso+arms / muscle legs)myofullbodybuild.tests/test_torque_actuation.pychecks actuator counts for torque-only and mixed builds.docs/wiki/build-and-composition.md, updatedrepository-map.md, logged indocs/wiki/log.md.Notes / follow-ups
myohand_r,myohands) and abdomen-only (myotorso_abdomen) builds don't have torque files yet; their builders accept theactuationargument for a uniform dispatch signature but ignore it.Test plan
uv run pytest tests/ -x -n auto --ignore=tests/test_equivalence.py— 87 passed (84 existing + 3 new)uv run python examples/torque_actuation.py— builds muscle/torque/mixedmyofullbody, prints nu=416/71/137uv run python -m myo_sim.build.compose --model myofullbody --actuation torqueuv run python -m myo_sim.build.compose --model myofullbody --actuation arms=torque --actuation legs=muscle