From 24ca1329f51bc39ea9bd6f2a4deba033f4a400d6 Mon Sep 17 00:00:00 2001 From: brian soe <6686625+briansoe66@users.noreply.github.com> Date: Fri, 17 Jan 2025 13:51:02 -0800 Subject: [PATCH] write visual and collision name to xml Signed-off-by: brian soe <6686625+briansoe66@users.noreply.github.com> --- urdf_parser/src/link.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/urdf_parser/src/link.cpp b/urdf_parser/src/link.cpp index ab83b5d3..23ca186f 100644 --- a/urdf_parser/src/link.cpp +++ b/urdf_parser/src/link.cpp @@ -616,6 +616,9 @@ bool exportVisual(Visual &vis, tinyxml2::XMLElement *xml) // </visual> tinyxml2::XMLElement * visual_xml = xml->GetDocument()->NewElement("visual"); + if (!vis.name.empty()) + visual_xml->setAttribute("name", vis.name.c_str()); + exportPose(vis.origin, visual_xml); exportGeometry(vis.geometry, visual_xml); @@ -639,6 +642,9 @@ bool exportCollision(Collision &col, tinyxml2::XMLElement* xml) // </collision> tinyxml2::XMLElement * collision_xml = xml->GetDocument()->NewElement("collision"); + if (!col.name.empty()) + collision_xml->setAttribute("name", col.name.c_str()); + exportPose(col.origin, collision_xml); exportGeometry(col.geometry, collision_xml);