Integrator Setting

shakiba rafiee · Post by **shakiba rafiee** » Sat May 15, 2021 2:38 pm

Hi all,

I am working on a forward simulation in the OpenSim-rl package and I need to change the integrator. The OpenSim Doxygen website provides good examples of how to implement this in python, but unfortunately, the OpenSim-rl package is not updated and does not include those functions.

The function that I can use in the OpenSim-rl package for setting the integrator is "opensim.Manager.setIntegrator()", which gets an input of type "SimTK::Integrator &".

I want to use a 4th-order Runge-Kutta integration method. I would really appreciate it if someone could tell me how to make this Integrator object and set it to be"RungeKuttaMersonIntegrator"

Thank you in advance,
Shakiba