Welcome to MyoConverters’s documentation!

MyoConverter is a software to convert and optimize biomechanical OpenSim models to the MuJoCo physics engine.

This software is intended for OpenSim 4.x models. If you have an OpenSim 3.x model, or earlier, it is recommended to update the model to the 4.x format using OpenSim’s software. If this is not possible, then we suggest you try out the O2MConverter which converts OpenSim 3.x models, but does not include moment arm and force optimizations.

Note

The aim of MyoConverter is to replicate OpenSim models in MuJoCo format as faithfully as possible. This means that any possible errors in the original OpenSim models are likely to remain in the MuJoCo model. Hence, the converted models may not be suitable for research purposes as such, but may require further adjustments. Models with further manual adjustments, ensuring their suitability for functional task simulations, can be found in the MyoSim project, which builds on models converted by MyoConverter.

Note

We evaluate the accuracy of the converter with a handful of models. However, these models do not cover all possible features of OpenSim models. Hence, when converting a new model, there is a chance the conversion fails due to a missing implementation. In this case you can open an issue, or, preferably, contribute to the project and create a pull request. See the GitHub repository

Contents

• Conversion Pipeline
• Models
• Installation
• Limitations
• Plans
• Participate

References

• Publications
• API Reference

How to cite

The conversion and optimization processes are largely built on the work presented in these two following papers. Please cite these papers if you use our software or the converted and optimized models provided by our software.

@inproceedings{wang2022myosim,
  title={MyoSim: Fast and physiologically realistic MuJoCo models for musculoskeletal and exoskeletal studies},
  author={Wang, Huawei and Caggiano, Vittorio and Durandau, Guillaume and Sartori, Massimo and Kumar, Vikash},
  booktitle={2022 International Conference on Robotics and Automation (ICRA)},
  pages={8104--8111},
  year={2022},
  organization={IEEE}}

@inproceedings{ikkala2022converting,
  title={Converting biomechanical models from OpenSim to MuJoCo},
  author={Ikkala, Aleksi and H{\"a}m{\"a}l{\"a}inen, Perttu},
  booktitle={Converging Clinical and Engineering Research on Neurorehabilitation IV: Proceedings of the 5th International Conference on Neurorehabilitation (ICNR2020)},
  pages={277--281},
  year={2022},
  organization={Springer}}