SOAP to REST converter?

Has anyone made a converter that converts SOAP servers to REST?
Perhaps you specify a converter, with the query args you want to use
to then fill in the SOAP query, and an XSLT for output. This could be

Does this exist?

Why I want it: I imagine a large universe of simple clients,
either by virtue of their capabilities (no RAM) or their programmers
(SOAP can be needlessly complex),
which cannot do SOAP. But everyone can do REST.

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