Custom Env: Combining MyoSim Models

[PatP15]

Hi!

I am working on a project where I would like to create a model combining the torso and the myoarm models. Ideally, the final model would have both left and right arms with a controllable torso.

So I have two questions:

1. Is there an easier way to combine models instead of going line by line in the XML files? I am aware of the myoconverter github but since I'm just trying to combine existing models, I'm hoping there's an easier way than recreating the models in Opensim.

2. Would there be a way to simplify the models and strip away the simulated muscles? As in, I want a model where each joint only has a single actuator. I would like to have this as a first step to validate my experiments before tackling the more difficult problem with muscles.

This is the first time working with myosuite/mujoco so please let me know if need to clarify any of these questions!

Best,
Pat