Add equivalent inertia ellipsoid visualization.

PiperOrigin-RevId: 519154067 Change-Id: I35f1993c1493df9be752b7163385004649498070
2023-03-24 08:46:58 -07:00
parent 2a471d1e11
commit 3f14d97f6b
13 changed files with 60 additions and 17 deletions
@@ -0,0 +1,10 @@
+<mujoco>
+  <visual>
+    <global ellipsoidinertia="true"/>
+  </visual>
+  <worldbody>
+    <body pos="0 0 .3">
+      <geom type="capsule" size=".01" fromto="0 0 0 .2 0 0"/>
+    </body>
+  </worldbody>
+</mujoco>