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/UrdfParser.h

@@ -44,6 +44,7 @@ enum UrdfGeomTypes
 	URDF_GEOM_CYLINDER,
 	URDF_GEOM_MESH,
     URDF_GEOM_PLANE,
+	URDF_GEOM_CAPSULE//non-standard URDF?
     
 };
 
@@ -56,6 +57,10 @@ struct UrdfGeometry
 	
 	btVector3 m_boxSize;
 	
+	double m_capsuleRadius;
+	btVector3 m_capsuleFrom;
+	btVector3 m_capsuleTo;
+
 	double m_cylinderRadius;
 	double m_cylinderLength;