myoconverter.xml.path_points.ConditionalPathPoint

Contains the ConditionalPathPoint parser.

@author: Aleksi Ikkala

Module Contents

Classes

ConditionalPathPoint

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

Bases: myoconverter.xml.parsers.IParser

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

Parsing a ConditionalPathPoint is difficult. We need to ‘anchor’ the conditional path point to a normal path point, and treat it like a moving path point (move from ‘anchor’ to its actual position when the independent coordinate is inside valid range).

We approximate the above movement behaviour with either a step function or a rectangular function. In case of a step function the movement is further approximated with a linear function, and in case of a rectangular function the movement is approximated with a quadratic function.

parse(xml, tendon, force_name, **kwargs)[source]

This function handles the actual parsing and converting.

Parameters:

  • xml – OpenSim ConditionalPathPoint XML element

  • tendon – MuJoCo tendon/spatial XML element

  • force_name – Name of the actuator this path point belongs to

  • kwargs – Optional keyword arguments

Returns:

None

_find_previous(children, idx, socket_parent_frame)[source]

Find previous PathPoint.

Parameters:

  • children – List of OpenSim path point XML elements

  • idx – Idx of current path point of interest

  • socket_parent_frame – Parent frame socket

Returns:

-1 if no suitable path point is found, otherwise idx of a path point (in children)

_find_next(children, idx, socket_parent_frame)[source]

Find next PathPoint.

Parameters:

  • children – List of OpenSim path point XML elements

  • idx – Idx of current path point of interest

  • socket_parent_frame – Parent frame socket

Returns:

-1 if no suitable path point is found, otherwise idx of a path point (in children)

_plot_figure(x_ideal, y_ideal, y_approx, independent_joint, dependent_joint, coord, is_rectangular)[source]