allow specifying static bodies when parsing URDF

PiperOrigin-RevId: 547664406 Change-Id: I4b555431d1877fb7547c6b550387cd4230c2b0c4
2023-07-12 19:33:47 -07:00
parent 242aea93c6
commit 8f3c488de8
2 changed files with 11 additions and 4 deletions
@@ -35,7 +35,12 @@ class mjXURDF : public mjXBase {
  virtual ~mjXURDF();                                 // destructor

  // parse and set frame of base link and append a prefix to the name
-  void Parse(tinyxml2::XMLElement* root, const std::string& prefix, double* pos, double* quat);                           // parse and set frame of base link
+  void Parse(
+      tinyxml2::XMLElement* root,
+      const std::string& prefix,
+      double* pos,
+      double* quat,
+      bool static_body);
  void Parse(tinyxml2::XMLElement* root);             // main parser

 private: