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.

examples/Importers/ImportURDFDemo/URDF2Bullet.h

@@ -17,7 +17,8 @@ class MultiBodyCreationInterface;
 enum ConvertURDFFlags {
   CUF_USE_SDF = 1,
   // Use inertia values in URDF instead of recomputing them from collision shape.
-  CUF_USE_URDF_INERTIA = 2
+  CUF_USE_URDF_INERTIA = 2,
+  CUF_USE_MJCF = 4,
 };
 
 void ConvertURDF2Bullet(const URDFImporterInterface& u2b,