From f428c1bf56cf49708b6d74a398f9ad80c2ad012c Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 7 Jun 2022 07:11:50 -0700
Subject: [PATCH] Improve example XML snippet in "URDF Extensions" section.

`discardvisual="false"` is often required when importing URDF models.

[Relevant issue](https://github.com/deepmind/mujoco/issues/326).

PiperOrigin-RevId: 453429187
Change-Id: I6dccc5656114224d11010c87e6a127321cce93c1
---
 doc/modeling.rst | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/doc/modeling.rst b/doc/modeling.rst
index 1204859f..e42fc5f1 100644
--- a/doc/modeling.rst
+++ b/doc/modeling.rst
@@ -1216,7 +1216,7 @@ Here is an example extension section of a URDF model:
 
    <robot name="darwin">
      <mujoco>
-       <compiler meshdir="../mesh/darwin/" balanceinertia="true"/>
+       <compiler meshdir="../mesh/darwin/" balanceinertia="true" discardvisual="false"/>
      </mujoco>
      <link name="MP_BODY">
        ...