Changes to inertia inference from meshes.

PiperOrigin-RevId: 726051033 Change-Id: I6edfc118280d103a2dd9d07f29f0094858769761
2025-02-12 07:42:15 -08:00
parent e39a5df06a
commit 89253d957d
21 changed files with 438 additions and 299 deletions
@@ -1,11 +1,11 @@
 <mujoco>
  <compiler/>
  <asset>
-    <mesh file="cube.obj" name="hollow_cube"/>
+    <mesh file="cube.obj" name="hollow_cube" inertia="shell"/>
  </asset>
  <worldbody>
    <body>
-      <geom type="mesh" mesh="hollow_cube" density="1" shellinertia="true"/>
+      <geom type="mesh" mesh="hollow_cube" density="1"/>
    </body>
  </worldbody>
 </mujoco>