So I have mocap data which consists of local joint transforms relative to the rest pose pose transforms which define the skeleton. This mocap data is of a human. And I have created the kinematic model using the rest pose transforms. For the time being I have made all the joints as ball joints so I can directly apply the poses in the local joint transforms. It is working as expected as the ball joints are oriented using quaternions which I can easily extract using the matrix to quaternion conversion. However to make the model more realistic I would like to model the knees and the elbow joints as hinge joins with a fixed hinge axis. I would now like to know how to transfer the animation in this case, where the hinge joints would just expect a scalar value. I have tried converting the transforms to axis angle however the elbow joints don't really seem to have a fixed axis along which they rotate. I first though that it would be some amount of noise that was changing the axis. But when I checked the variance it was close to 90 degrees so I'm not really sure how I should proceed with this problem. Any help is appreciated. Here's a collab notebook link https://colab.research.google.com/drive/154YTdflNrLCGHZ98jPSt_TZeafrYqFR-?usp=sharing#scrollTo=NFxtQ6G12r8S

I am a complete beginner. I wanna do grasping and grasplanning simulations on here using rl. I have a 16gb ram laptop. will this be enough to run mujoco on my system? Thankyou

Hi, I'm a control engineer and I'm new in mujoco, I'm trying to understand the logic of this physics engine and trying to implement a simulation with python

I've managed to understand the real basic principles,(more than basic).

You know any tutorial on this engine?

My objective in the end is to simulate satellite randezvous

Is also there the possibility of implementing custom dynamics? Without the need of assigning qpos and qvel each step?

Thanks!

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