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Converting Biomechanical Models from OpenSim to MuJoCo · Around

2020

Converting Biomechanical Models from OpenSim to MuJoCo

Ikkala, Aleksi, Hämäläinen, Perttu

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OpenSim is a widely used biomechanics simulator with several anatomically accurate human musculo-skeletal models.

While OpenSim provides useful tools to analyse human movement, it is not fast enough to be routinely used for emerging research directions, e.g., learning and simulating motor control through deep neural networks and Reinforcement Learning (RL).
We propose a framework for converting OpenSim models to MuJoCo, the de facto simulator in machine learning research, which itself lacks accurate musculo-skeletal human models.
We show that with a few simple approximations of anatomical details, an OpenSim model can be automatically converted to a MuJoCo version that runs up to 600 times faster.

Built on

S. Delp, F. Anderson, A. Arnold, P. Loan, A. Habib, C. John, et al., ”OpenSim: Open-source software to create and analyze dynamic simulations of movement,” in IEEE Trans. Biomed.Eng
1950
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N. Hansen, S. Müller, P. Koumoutsakos, ”Reducing the time complexity of the derandomized evolution strategy with covariance matrix adaptation (CMA-ES),” in Evolutionary Computation
2003
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E. Arnold, S. Ward, R. Lieber, S. Delp, ”A model of the lower limb for analysis of human movement,” in Ann Biomed Eng
2010
Earlier work this paper cites.

Similar

E. Todorov, T. Erez, Y. Tassa, ”MuJoCo: A physics engine for model-based control,” in IEEE IROS
2012
Cited alongside, same era.
K. Saul et al., ”Benchmarking of dynamic simulation predictiosn in two software platforms using an upper limb musculoskeletal model,” in Comput Methods in Biomech Biomed Engin
2015
Cited alongside, same era.
G. Brockman et al., ”OpenAI Gym,” arXiv:1606.01540
Original
2016
Cited alongside, same era.

Then

A. Seth et al., ”OpenSim: Simulating musculoskeletal dynamics and neuromuscular control to study human and animal movement,” in PLoS Comput. Biol
2018
Later among the works it cites.
N. Hansen, Y. Akimoto, P. Baudis, ”CMA-ES/pycma on Github,” 2019
2019
Later among the works it cites.
S. Lee, M. Park, K. Lee, J. Lee, ”Scalable muscle-actuated human simulation and control,” in ACM Trans. Graph
2019
Later among the works it cites.

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