Improve URDF geom name loading API.

PiperOrigin-RevId: 505112774 Change-Id: I866e58e664089256a41908dddab9ad79745fb1da
2023-01-27 07:28:54 -08:00
parent c741dfce7d
commit 929e09f84a
8 changed files with 77 additions and 23 deletions
@@ -247,10 +247,6 @@ 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:

@@ -19,6 +19,8 @@ General
   :align: right
   :width: 300px

+- Geom names are now parsed from URDF. Any duplicate names are ignored.
+
 Bug fixes
 ^^^^^^^^^