Add geom names to URDF parsing in MuJoCo.

Fixes #566 PiperOrigin-RevId: 500750288 Change-Id: I00f94ee37bb2f15be59df3933d0d4dba583f0921
2023-01-09 10:33:40 -08:00
parent 19b6c70e13
commit 703b33c064
6 changed files with 87 additions and 0 deletions
@@ -135,6 +135,7 @@ class mjCModel {
  int inertiafromgeom;            // use geom inertias (mjtInertiaFromGeom)
  int inertiagrouprange[2];       // range of geom groups used to compute inertia
  bool exactmeshinertia;          // if false, use old formula
+  bool geomnamesfromurdf;         // parse geom names from URDF
  mjLROpt LRopt;                  // options for lengthrange computation

  //------------------------ statistics override (if defined)