Adding new objects

In order to add new objects to the MuJoCo simulation, we assume, that you have already prepared .blend files for Blener rendering.

Meshes

You have to generate convex meshes for simulation in MuJoCo. For concave objects, they have to be decomposed into a set of convex meshes. We suggest using a Blender V-HACD add-on and saving the resulting convex hulls as a separate .stl files (using BatchMode in STL export dialogue window in Blender).

XML files

Further, you have to create MuJoCo type assets, usually as an .xml file. You can use any file in assets/train as an example - meshes have to be loaded as assets, and placed as parts of the objects body.

Path catalogure

To simplify pipeline we use environment/path_catalogue.py as a collection of paths to the assets. Additionally, if you decide to create new class there, remember about updating object loader class in environment/objects.py.