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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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8
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -237,7 +237,13 @@ void ConvertURDF2BulletInternal(
}
else
{
linkTransformInWorldSpace =parentTransformInWorldSpace*parent2joint;
if (flags & CUF_USE_MJCF)
{
linkTransformInWorldSpace =parentTransformInWorldSpace*linkTransformInWorldSpace;
} else
{
linkTransformInWorldSpace =parentTransformInWorldSpace*parent2joint;
}
}