search

rohanpsingh / mc_mujoco

MuJoCo interface for mc-rtc
https://arxiv.org/abs/2209.00274
BSD 2-Clause "Simplified" License
77 stars 18 forks source link

Load external objects into mujoco scene #26

Closed rohanpsingh closed 2 years ago

rohanpsingh commented 2 years ago

This is sometimes necessary to have objects in the scene but outside of mc-rtc.

rohanpsingh commented 2 years ago

I think that while the procedure to creating a "scene" with multiple robots, mc-rtc objects and external objects can be simplified a bit, for now, the method introduced in this PR has been tested sufficiently and works fine. So I will merge this PR soon.