myoconverter.xml.joints.PinJoint

Contains the PinJoint parser.

@author: Aleksi Ikkala

Module Contents

Classes

PinJoint

This class parses and converts the OpenSim PinJoint XML element to MuJoCo.
class myoconverter.xml.joints.PinJoint.PinJoint[source]

Bases: myoconverter.xml.joints.Joint.Joint

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

_parse(xml, socket_parent_frame, socket_child_frame, pointer)[source]

This function handles the actual parsing and converting.

Parameters:

  • xml – OpenSim PinJoint XML element

  • socket_parent_frame – Parent frame socket

  • socket_child_frame – Child frame socket

  • pointer – A pointer to the MuJoCo XML file where this joint will be added

Returns:

A list of MuJoCo XML joints, a list of joint parameters

Raises:

RUntimeError: If multiple Coordinates have been defined for this joint