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Add geom names to URDF parsing in MuJoCo.

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Fixes #566

PiperOrigin-RevId: 500750288
Change-Id: I00f94ee37bb2f15be59df3933d0d4dba583f0921
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DeepMind
2023-01-09 10:33:40 -08:00
committed by Copybara-Service
parent 19b6c70e13
commit 703b33c064
6 changed files with 87 additions and 0 deletions
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doc/XMLreference.rst
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@@ -247,6 +247,10 @@ any effect. The settings here are global and apply to the entire model.
participate in the inertial computations, so any geoms attached to it are automatically ignored. Therefore it is not
necessary to adjust this attribute and the geom-specific groups so as to exclude world geoms from the inertial
computation.
:at:`geomnamesfromurdf`: :at-val:`[false, true], "false"`
This attribute specifies whether the URDF parser should use the names of geoms specified in the URDF in the model.
This is disabled by default as URDF allows multiple geoms in the model to have the same name, if this attribute is set
to true and there are multiple geoms with the same name in a parsed URDF, this will lead to a parse error.
.. _compiler-lengthrange: