Page Comparison

<mujoco>
    <!-- discardvisual is disabled to include both the colliders and the mesh skins -->
    <!-- fusestatic is disabled to allow collision detection with static parts -->
    <compiler meshdir="meshes/" discardvisual="false" fusestatic="false"/>

    <!-- filterparent is disabled to allow collision detection between children and parent links -->
    <option>
        <flag filterparent="disable"/>
    </option>
</mujoco>