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cram2 / pycram

Cognitive Robot Abstract Machine in Python
https://pycram.readthedocs.io/en/latest/index.html
GNU General Public License v3.0
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Multiverse mjcf #190

Closed AbdelrhmanBassiouny closed 1 month ago

AbdelrhmanBassiouny commented 1 month ago

This depends on #177

This adds the ability to use both MJCF and URDF for file descriptions with the new mjcf description class.

Also, it allows the creation of MJCF files from mesh files, similar to creating URDF from mesh files, however, the inertia and center of mass are automatically calculated.

This is done using MultiverseParser API to use this feature the Multiverse library is required.

Also added a description resolver to decide which description to use based on extension or an already given description like the GenericDescription from @sunava as it does not have a path or an extension in this case.

AbdelrhmanBassiouny commented 1 month ago

The conflicts will be solved if #175 , #176 , and #177 are merged