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JD
1.Making available a large number (order of tens of thousands) of 3D assets with realistic physical properties for use within the MuJoCo physics simulator, specifically for robotics use cases. Assets include rigid bodies and articulated assemblies.
2. Manually inspecting and improving (a small number of) simulated assets, understanding failure modes and design tradeoffs in the context of the MuJoCo simulator. These learnings would then be used to build automated processing pipelines.
3. Developing automated scalable pipelines to process 3D assets to make them physically simulatable. This includes: a. Assigning plausible physical properties (e.g. friction, inertial properties). b. Automated convex decomposition of assets, using either meshes or primitives. c. Automated testing of the geometry, collisions, physics properties and visuals. d. Develop an interface for semi-automated human inspections of 3D assets
4. Liaise with the MuJoCo team to flag, and potentially improve the core simulator to tackle any issues identified during asset testing
5. Provide technical support for researchers intending to use assets within their work
6. Create assets from scratch on demand, leveraging tools such as 3D modeling software, text to 3D models etc.