Support arbitrary large meshes in multiccd by reusing EPA memory.

PiperOrigin-RevId: 947709621 Change-Id: Idc4f168434b9d0a8555c0bed989adb0e99770a78
2026-07-14 08:47:52 -07:00
parent 0afafacfc5
commit 2444defc63
18 changed files with 680 additions and 87 deletions
@@ -0,0 +1,22 @@
+<mujoco>
+  <visual>
+    <headlight ambient=".4 .4 .4" diffuse=".8 .8 .8" specular=".1 .1 .1"/>
+    <scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
+    <map force="0.1"/>
+  </visual>
+
+  <asset>
+    <mesh file="cone.obj"/>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
+  </asset>
+
+  <worldbody>
+    <light pos="1 -1 1.5" dir="-1 1 -1.5" diffuse=".7 .7 .7"/>
+    <light pos="-1 1 1.5" dir="1 -1 -1.5" diffuse=".4 .4 .4"/>
+    <geom type="box" size="1 1 .3" pos="0 0 -.3" rgba=".3 .3 .3 1"/>
+    <body pos="0 0 1">
+      <freejoint/>
+      <geom type="mesh" mesh="cone" rgba=".7 .7 .7 1"/>
+    </body>
+  </worldbody>
+</mujoco>