myoconverter.xml.forces.CoordinateLimitForce

Contains the CoordinateLimitForce parser.

@author: Aleksi Ikkala

Module Contents

Classes

CoordinateLimitForce

This class parses and converts the OpenSim CoordinateLimitForce XML element to MuJoCo.

class myoconverter.xml.forces.CoordinateLimitForce.CoordinateLimitForce

Bases: myoconverter.xml.parsers.IParser

This class parses and converts the OpenSim CoordinateLimitForce XML element to MuJoCo.

CoordinateLimitForce parser has not been implemented. These forces probably should be optimized after the conversion process. I’ll leave the old conversion code (from O2MConverter) here for reference, but it is not entirely correct, and would require further development.

Another option to implementing CoordinateLimitForces might be to use MuJoCo tendons, with suitably chosen springlengths. The issue with this approach is that there might be multiple tendons for each DoF; would also need optimization after conversion process.

parse(xml)

This function handles the actual parsing and converting.

Parameters:

xml – OpenSim CoordinateLimitForce XML element

Returns:

None