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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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This commit is contained in:
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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5
examples/ExampleBrowser/CMakeLists.txt
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@@ -295,6 +295,11 @@ SET(BulletExampleBrowser_SRCS
../Importers/ImportURDFDemo/ImportURDFSetup.h
../Importers/ImportURDFDemo/URDF2Bullet.h
../Importers/ImportURDFDemo/urdf_samples.h
../Importers/ImportURDFDemo/urdf_samples.h
../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
../Importers/ImportMJCFDemo/BulletMJCFImporter.h
../Importers/ImportMJCFDemo/ImportMJCFSetup.cpp
../Importers/ImportMJCFDemo/ImportMJCFSetup.h
../Importers/ImportBsp/BspConverter.cpp
../Importers/ImportBsp/BspLoader.cpp
../Importers/ImportBsp/ImportBspExample.cpp

3
examples/ExampleBrowser/ExampleEntries.cpp
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@@ -18,6 +18,7 @@
#include "../Importers/ImportSTLDemo/ImportSTLSetup.h"
#include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
#include "../Importers/ImportSDFDemo/ImportSDFSetup.h"
#include "../Importers/ImportMJCFDemo/ImportMJCFSetup.h"
#include "../Collision/CollisionTutorialBullet2.h"
#include "../GyroscopicDemo/GyroscopicSetup.h"
#include "../Constraints/Dof6Spring2Setup.h"
@@ -231,6 +232,8 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"URDF (RigidBody)", "Import a URDF file, and create rigid bodies (btRigidBody) connected by constraints.", ImportURDFCreateFunc, 0),
ExampleEntry(1,"URDF (MultiBody)", "Import a URDF file and create a single multibody (btMultiBody) with tree hierarchy of links (mobilizers).",
ImportURDFCreateFunc, 1),
ExampleEntry(1,"MJCF (MultiBody)", "Import a MJCF xml file, create multiple multibodies etc", ImportMJCFCreateFunc),
ExampleEntry(1,"SDF (MultiBody)", "Import an SDF file, create multiple multibodies etc", ImportSDFCreateFunc),
ExampleEntry(0,"Vehicles"),