Add urdf file extension case to mj_parse.

fixes #3004 PiperOrigin-RevId: 855249634 Change-Id: I6c21d0ada4fe482059f64e96d413796f5c1c66ce
2026-01-12 08:57:57 -08:00
parent 013268c283
commit 7e45bbb51c
4 changed files with 16 additions and 1 deletions
@@ -72,7 +72,9 @@ mjSpec* mj_parse(const char* filename, const char* content_type,

  // early exit for existing XML workflow
  auto filepath = mujoco::user::FilePath(filename);
-  if (filepath.Ext() == ".xml" || (content_type && std::strcmp(content_type, "text/xml") == 0)) {
+  if (filepath.Ext() == ".xml" ||
+      filepath.Ext() == ".urdf" ||
+      (content_type && std::strcmp(content_type, "text/xml") == 0)) {
    return mj_parseXML(filename, vfs, error, error_sz);
  }