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Update documentation for URDF parsing, noting different default values for compiler attributes.

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PiperOrigin-RevId: 633556582
Change-Id: Ibf99b034706afc14f54bfc34e082465d025719d2
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Yuval Tassa
2024-05-14 06:00:31 -07:00
committed by Copybara-Service
parent c6e88d3a72
commit b8a8d811e1
1 changed files with 3 additions and 1 deletions
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doc/modeling.rst
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@@ -1489,7 +1489,9 @@ sub-elements :ref:`compiler <compiler>`, :ref:`option <option>`,
are modified so as to accomodate the URDF modeling convention. The :ref:`compiler <compiler>` extension
in particular has proven very useful, and indeed several of its attributes were introduced because a number of
existing URDF models have non-physical dynamics parameters which MuJoCo's built-in compiler will reject if left
unmodified. This extension is also needed to specify mesh directories.
unmodified. This extension is also needed to specify mesh directories. Also note that the compiler attributes
:ref:`strippath<compiler-strippath>`, :ref:`angle<compiler-angle>`, :ref:`fusestatic<compiler-fusestatic>` and
:ref:`discardvisual<compiler-discardvisual>` have different default values for URDF and MJCF.
Note that the while MJCF models are checked against a custom XML schema by the parser, URDF models are not. Even the
MuJoCo-specific elements embedded in the URDF file are not checked. As a result, mis-typed attribute names are