Before a URDF file from onshape-to-robot can be imported into MuJoCo, a few changes should be made to it’s structure to enable all needed functionalities.
This is the XML element that we currently insert at the beginning of every URDF before loading it into MuJoCo.
| Code Block | ||
|---|---|---|
| ||
<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> |
The four settings being set defined by this are the following:
...