There are some important settings in URDFs that get loaded into mujoco that must be set by a <mujoco> tag. We should let the user programmatically specify some of the features in the model compiler that may be essential for URDF loading:
the fusestatic property determines whether the first link of non-free-base robots gets unintentionally absorbed into the mujoco model's worldbody. We should let this be False by default.
the meshdir property indicates the global or local (relative to the URDF) directory containing the model assets.
the 'balanceinertia' property detects when inertia matrices are ill-formed and will generate a coarse but physical inertia matrix to replace them so errors aren't thrown.
the 'discardvisual' property controls whether visual geometries are kept or not (thrown out by default)
There are some important settings in URDFs that get loaded into mujoco that must be set by a
<mujoco>tag. We should let the user programmatically specify some of the features in the model compiler that may be essential for URDF loading:fusestaticproperty determines whether the first link of non-free-base robots gets unintentionally absorbed into themujocomodel'sworldbody. We should let this beFalseby default.meshdirproperty indicates the global or local (relative to the URDF) directory containing the model assets.To see the full list, see: https://mujoco.readthedocs.io/en/3.0.0/XMLreference.html#compiler