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[SDFormat->MJCF] Support kinematic loops #9

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azeey opened this issue May 4, 2022 · 0 comments

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azeey commented May 4, 2022

Currently, only kinematic trees are supported in the converter. We need to detect if a kinematic loop exists in an SDFormat file and add MJCF equality constraints (see https://mujoco.readthedocs.io/en/latest/XMLreference.html#equality)

azeey assigned azeey and unassigned azeey

azeey changed the title ~~Support kinematic loops in SDFormat->MJCF conversion~~ [SDFormat->MJCF] Support kinematic loops

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