myoconverter.xml.converter

This module contains the OpenSim-to-MuJoCo model (XML file) convertion main access points.

You can convert an OpenSim XML model file to MuJoCo by calling the convert() function, or by running this module.

Example:

in a command shell:

python converter.py /path/to/opensim/model.xml /output/directory/for/mujoco/model/

or, in a Python file:

from myoconverter.xml.converter import convert
convert(xml_file, output_folder, **kwargs)

Module Contents

Functions

convert(xml_file, output_folder, **kwargs)

Convert an OpenSim XML model file to MuJoCo XMl model file.

_parse_bodies_and_joints()

Parse OpenSim BodySet and JointSet.

_add_bodies_and_joints(parent_name, current_body[, ...])

Add OpenSim Body and related `Joint`s to MuJoCo model in a recurrent fashion.

_parse_ground()

Parse OpenSim Ground.

_parse_constraints()

Parse OpenSim ConstraintSet.

_parse_forces()

Parse OpenSim ForceSet.

_parse_markers()

Parse OpenSim MarkerSet.

_set_keyframe()

Create a keyframe for the MuJoCo model.

_copy_credits()

Copy credits from the OpenSim model.

Attributes

argparser

ArgumentParser: Parse arguments when running module as a Python script.
myoconverter.xml.converter.convert(xml_file, output_folder, **kwargs)[source]

Convert an OpenSim XML model file to MuJoCo XMl model file.

Parameters:

  • xml_file – Path to the OpenSim XML model file

  • output_folder – Path to folder where converted model is saved

  • kwargs – geometry_folder (str), add_ground_geom (bool), treat_as_normal_path_point (bool)

Returns:

Path to the MuJoCo XML file

myoconverter.xml.converter._parse_bodies_and_joints()[source]

Parse OpenSim BodySet and JointSet.

Returns:

None

myoconverter.xml.converter._add_bodies_and_joints(parent_name, current_body, root_body=False)[source]

Add OpenSim Body and related `Joint`s to MuJoCo model in a recurrent fashion.

Parameters:

  • parent_name – Name of parent Body

  • current_body – Pointer to current body (XML element) in the MuJoCo XML file

  • root_body – Boolean to indicate whether current body is the root of the kinematic chain or not

Returns:

None

myoconverter.xml.converter._parse_ground()[source]

Parse OpenSim Ground.

Returns:

None

myoconverter.xml.converter._parse_constraints()[source]

Parse OpenSim ConstraintSet.

Returns:

None

myoconverter.xml.converter._parse_forces()[source]

Parse OpenSim ForceSet.

Returns:

None

myoconverter.xml.converter._parse_markers()[source]

Parse OpenSim MarkerSet.

Returns:

None

myoconverter.xml.converter._set_keyframe()[source]

Create a keyframe for the MuJoCo model.

The keyframe defines a default pose, where all dependent joints have been properly initialised.

Returns:

None

myoconverter.xml.converter._copy_credits()[source]

Copy credits from the OpenSim model.

Returns:

None

myoconverter.xml.converter.argparser[source]

ArgumentParser: Parse arguments when running module as a Python script.