Add bvhactive flag to visual/global. Fixes #1279.

PiperOrigin-RevId: 599778272 Change-Id: If5530629035cc68b198447503388f59a04041b13
2024-01-19 02:59:06 -08:00
parent 2feefbc5d2
commit fea7c10b95
18 changed files with 147 additions and 44 deletions
@@ -3,6 +3,13 @@
    <mesh file="stanford_bunny.obj"/>
  </asset>
  <worldbody>
-    <geom type="mesh" mesh="stanford_bunny" pos="1 0 0" euler="0 90 0"/>
+    <site name="lidar" type="cylinder" pos=".7 .1 0" zaxis="1 0 0" size=".02 .05"/>
+    <body mocap="true" pos="1 0 0" euler="0 90 0">
+      <geom type="mesh" mesh="stanford_bunny"/>
+    </body>
  </worldbody>
+
+  <sensor>
+    <rangefinder site="lidar"/>
+  </sensor>
 </mujoco>