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Refactor/clean the xml #119
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According to the docs, all those dummy bodies (like *Coxa_roll/yaw) where multiple DOFs are required can be just removed
https://mujoco.readthedocs.io/en/stable/modeling.html#kinematic-tree |
In theory, cameras and actuators can be moved to separate XML files and then included, but for the actuators it would require to have joints names fixed.
https://mujoco.readthedocs.io/en/stable/XMLreference.html#include |
MuJoCo has a powerful mechanism for specifying default values to almost anything On one hand it makes XML file much less cluttered, but on the other hand it can be difficult to keep track of this tree of default classes in a large file, having everything defined explicitly in-place has its own benefits as well. For example, dm_control quadruped example made me totally confused when I looked at it for the first time :) Also it might be just a waste of time if you are ever going to import an updated model or something like this. |
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