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Move mesh inertia specification from global <compiler> to <asset/mesh>.

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Three options:
- Convex: Use convex hull
- Exact: Use exact geometry (requires watertight mesh)
- Legacy: Legacy approximation (deprecated)

Fixes #2152

PiperOrigin-RevId: 688949900
Change-Id: I4537f343db917195c6fd58d517b189d5ee3be1cd
This commit is contained in:
Alessio Quaglino
2024-10-23 07:05:32 -07:00
committed by Copybara-Service
parent 0c97dcf1fd
commit b598d79b3f
19 changed files with 170 additions and 87 deletions
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src/xml/xml_base.h
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@@ -69,6 +69,7 @@ extern const mjMap bias_map[];
extern const mjMap stage_map[];
extern const mjMap datatype_map[];
extern const mjMap meshtype_map[];
extern const mjMap meshinertia_map[];
extern const mjMap flexself_map[];