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It seems great, but the simulation geometry options feel bit limited? What would be really great would be the ability to simulate scenes with objects imported f
by zokier 5y ago
It seems great, but the simulation geometry options feel bit limited? What would be really great would be the ability to simulate scenes with objects imported from STEP/IGES files, so you can do more of the modeling in actual CAD tools. Instead, MuJoCo seems more oriented towards using its own primitives, not sure how that works out with more complex situations.
- ali_m 5y agoIf you can turn it into a collection of STL or MSH files then you can simulate it in MuJoCo. There are some caveats - MuJoCo will use the convex hull of the mesh for collisions, so if you want to accurately simulate collisions with concave features then you'll need to split your mesh into convex submeshes (there are various third party tools that can automate this). Sometimes you need to tweak the mesh geometry a bit in order to get the right contact behaviour, and in some cases it's easier to use primitives for key collision geometry and just use the meshes for visualisation.
- CamperBob2 5y agoThey're not in the file-reading business. There's a staggering variety of 3D object file formats, both open and proprietary, so it's logical enough to let the application worry about reading the geometric data and converting it to the representation needed for physics simulation.