update mjcf schema (#16)

* expand the support for mjcf schema * inertia fix * update to robot class * add more support
kscalelabs · May 22, 2024 · 755f2be · 755f2be
1 parent 9545401
commit 755f2be
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/kol/formats/mjcf.py b/kol/formats/mjcf.py
@@ -304,6 +304,7 @@ class Default:
     class_: str | None = None
     motor: Motor | None = None
     equality: Equality | None = None
+    visual_geom: ET.Element | None = None
 
     def to_xml(self, default: ET.Element | None = None) -> ET.Element:
         default = ET.Element("default") if default is None else ET.SubElement(default, "default")
@@ -317,6 +318,8 @@ def to_xml(self, default: ET.Element | None = None) -> ET.Element:
             self.motor.to_xml(default)
         if self.equality is not None:
             self.equality.to_xml(default)
+        if self.visual_geom is not None:
+            default.append(self.visual_geom)
         return default