[ODE] standard file format for architecture descriptions?

[Marc Toussaint]

Hi there!

Do you know of any standard file format (for ASCII files) to describe
architectures composed of rigid bodies/geoms, joints, motors, etc ?
The file format should be as simple as possible - a simple C code should
be able to parse the file and instantiate the corresponding ODE objects.
E.g., analogous to the .dot files to describe graphs in the dotty
language.


Thanks!

Marc Toussaint.
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