Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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.

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

4
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
View File

@@ -89,7 +89,7 @@ struct ImportUrdfInternalData
ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option, const char* fileName)
:CommonMultiBodyBase(helper),
m_grav(0),
m_grav(-10),
m_upAxis(2)
{
m_data = new ImportUrdfInternalData;
@@ -135,7 +135,7 @@ ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option,
if (gFileNameArray.size()==0)
{
gFileNameArray.push_back("quadruped/quadruped.urdf");
gFileNameArray.push_back("r2d2.urdf");
}