From d8af5c5382a2cf04b4f148d6fb6b70421d884f56 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@student.kit.edu>
Date: Thu, 29 Nov 2018 15:57:52 +0100
Subject: [PATCH] Made robot free joint have robot's name
---
VirtualRobot/XML/mjcf/MujocoIO.cpp | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/VirtualRobot/XML/mjcf/MujocoIO.cpp b/VirtualRobot/XML/mjcf/MujocoIO.cpp
index 43d3fbde2..c440a6757 100644
--- a/VirtualRobot/XML/mjcf/MujocoIO.cpp
+++ b/VirtualRobot/XML/mjcf/MujocoIO.cpp
@@ -186,7 +186,8 @@ void MujocoIO::makeNodeBodies()
if (withMocapBody)
{
document->addDummyInertial(robotRootBody);
- document->addFreeJointElement(robotRootBody);
+ XMLElement* joint = document->addFreeJointElement(robotRootBody);
+ joint->SetAttribute("name", robot->getName().c_str());
}
XMLElement* root = document->addBodyElement(robotRootBody, rootNode);
--
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