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First step towards a MuJoCo MJCF importer for Bullet. It can load the humanoid.xml, ant.xml and some other OpenAI GYM asset files. Not all fields are converted, so it is work-in-progress. This is useful for Reinforcement Learning experiments, and would also help integration with DeepMind Lab.

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Erwin Coumans
2016-12-30 18:32:57 -08:00
parent 7b9d194bfd
commit fdd517e00f
16 changed files with 1713 additions and 21 deletions
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13
data/mjcf/capsule.xml Normal file
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<!--
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
-->
<mujoco>
<worldbody>
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
<body pos="0 0 1">
<joint type="free"/>
<geom fromto="0.0 0.0 0.0 0. 0.2 0.0" name="aux_1_geom" size="0.05" type="capsule"/>
</body>
</worldbody>
</mujoco>