myoconverter.xml.joints.utils

This module contains a collection of utility functions useful for parsing and converting the OpenSim JointSet

@author: Aleksi Ikkala

Module Contents

Functions

parse_coordinates(objects)	Parse OpenSim Coordinates.
lock_joint(params, M_EQUALITY)	Lock a joint by adding an equality constraint.
estimate_axis(socket_child_frame, axis)	Estimate axis of MuJoCo joint.
plot_and_save_figure(x_values, y_values, fit, params, ...)

myoconverter.xml.joints.utils.parse_coordinates(objects)

Parse OpenSim Coordinates.

Parameters:

objects – A list of OpenSim Coordinate XML elements

Returns:

A dictionary of parsed Coordinates

myoconverter.xml.joints.utils.lock_joint(params, M_EQUALITY)

Lock a joint by adding an equality constraint.

Parameters:

• params – Joint parameters

• M_EQUALITY – Pointer to equality constraints in MuJoCo XML file

Returns:

None

myoconverter.xml.joints.utils.estimate_axis(socket_child_frame, axis)

Estimate axis of MuJoCo joint.

Parameters:

• socket_child_frame – Child frame socket

• axis – Axis of the OpenSim joint element

Returns:

MuJoCo joint axis

myoconverter.xml.joints.utils.plot_and_save_figure(x_values, y_values, fit, params, independent_coordinate, output_dir)