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
@@ -1,8 +1,8 @@
 <mujoco>
  <asset>
-    <mesh file="torus.obj"/>
+    <mesh file="torus.obj" inertia="shell"/>
  </asset>
  <worldbody>
-    <geom type="mesh" mesh="torus" shellinertia="true"/>
+    <geom type="mesh" mesh="torus"/>
  </worldbody>
 </mujoco>