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Add assetdir compiler option.

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PiperOrigin-RevId: 478117894
Change-Id: I4a93108e00558034aa02d22047da80adfa4232b2
This commit is contained in:
Kevin Zakka
2022-09-30 17:58:51 -07:00
committed by Copybara-Service
parent 8a8305d3ca
commit cce35e1816
6 changed files with 21 additions and 9 deletions
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doc/XMLreference.rst
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@@ -47,7 +47,7 @@ in the second column of the table have the following meaning:
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`inertiafromgeom` | :at:`inertiagrouprange` | :at:`exactmeshinertia` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`autolimits` | | | |
| | | | :at:`autolimits` | :at:`assetdir` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`lengthrange` | ? | .. table:: |
@@ -1549,11 +1549,11 @@ any effect. The settings here are global and apply to the entire model.
:ref:`mj_setTotalmass`.
:at:`balanceinertia`: :at-val:`[false, true], "false"`
A valid diagonal inertia matrix must satisfy A+B>=C for all permutations of the three diagonal elements. Some poorly
designed models violate this constraint, which will normally result in compile error. If this attribute is set to
designed models violate this constraint, which will normally result in a compile error. If this attribute is set to
"true", the compiler will silently set all three diagonal elements to their average value whenever the above
condition is violated.
:at:`strippath`: :at-val:`[false, true], "false" for MJCF, "true" for URDF`
The this attribute is "true", the parser will remove any path information in file names specified in the model. This
When this attribute is "true", the parser will remove any path information in file names specified in the model. This
is useful for loading models created on a different system using a different directory structure.
:at:`coordinate`: :at-val:`[local, global], "local" for MJCF, always "local" for URDF`
This attribute specifies whether the frame positions and orientations in the MJCF model are expressed in local or
@@ -1585,6 +1585,9 @@ any effect. The settings here are global and apply to the entire model.
:at:`texturedir`: :at-val:`string, optional`
This attribute is used to instruct the compiler where to look for texture files. It works in the same way as meshdir
above.
:at:`assetdir`: :at-val:`string, optional`
This attribute sets the values of both :at:`meshdir` and :at:`texturedir` above. Values in the latter attributes take
precedence over :at:`assetdir`.
:at:`discardvisual`: :at-val:`[false, true], "false" for MJCF, "true" for URDF`
This attribute instructs the parser to discard "visual geoms", defined as geoms whose contype and conaffinity
attributes are both set to 0. This functionality is useful for models that contain two sets of geoms, one for