{"type":"doc","content":[{"type":"paragraph","content":[{"text":"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.","type":"text"}]},{"type":"paragraph"},{"type":"paragraph","content":[{"text":"This is the XML element that we currently insert at the beginning of every URDF before loading it into MuJoCo.","type":"text"}]},{"type":"codeBlock","attrs":{"language":"xml"},"content":[{"text":"\n \n \n \n\n \n \n","type":"text"}]},{"type":"paragraph","content":[{"text":"The settings being defined by this are the following:","type":"text"}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"meshdir: This tells MuJoCo where to find the files containing all .stl meshes","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"discardvisual: This sets whether or not elements should be rendered as well. Setting this to “false” groups all visual elements into a separate “geom” group form the elements.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"fusestatic: Sets whether or not static links are fused together with their parent links. This has the side effect that the dummy link which can be added by onshape-to-robot and it’s associated links are considered world elements and thus not included in the collision detection (At least that’s our current best guess as to why that happened).","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"filterparent: Sets whether or not child links can collide with their parent links.","type":"text"}]}]}]}],"version":1}

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