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

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
2024-10-23 07:05:32 -07:00
parent 0c97dcf1fd
commit b598d79b3f
19 changed files with 170 additions and 87 deletions
@@ -1,8 +1,8 @@
 <mujoco>
-  <compiler fitaabb="false" exactmeshinertia="true"/>
+  <compiler fitaabb="false"/>

  <asset>
-    <mesh file="stanford_bunny.obj"/>
+    <mesh file="stanford_bunny.obj" inertia="exact"/>
  </asset>

  <worldbody>