Alessio Quaglino
b598d79b3f
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
43 lines
1.4 KiB
XML
43 lines
1.4 KiB
XML
<mujoco>
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<compiler fitaabb="false"/>
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<asset>
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<mesh file="stanford_bunny.obj" inertia="exact"/>
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</asset>
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<worldbody>
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<body euler="90 0 0">
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<geom type="mesh" mesh="stanford_bunny"/>
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</body>
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<body euler="90 0 0" pos=".25 0 0">
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<geom type="mesh" mesh="stanford_bunny"/>
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</body>
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<body euler="90 0 0" pos=".5 0 0">
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<geom type="mesh" mesh="stanford_bunny"/>
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</body>
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<body euler="90 0 0" pos=".75 0 0">
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<geom type="mesh" mesh="stanford_bunny"/>
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</body>
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<body euler="90 0 0" pos="1 0 0">
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<geom type="mesh" mesh="stanford_bunny"/>
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</body>
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<body euler="90 0 0">
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<geom name="bunny_sphere" type="sphere" mesh="stanford_bunny" rgba="1 0 1 1"/>
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</body>
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<body euler="90 0 0" pos=".25 0 0">
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<geom name="bunny_capsule" type="capsule" mesh="stanford_bunny" rgba="1 0 1 1"/>
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</body>
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<body euler="90 0 0" pos=".5 0 0">
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<geom name="bunny_ellipsoid" type="ellipsoid" mesh="stanford_bunny" rgba="1 0 1 1"/>
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</body>
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<body euler="90 0 0" pos=".75 0 0">
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<geom name="bunny_cylinder" type="cylinder" mesh="stanford_bunny" rgba="1 0 1 1"/>
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</body>
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<body euler="90 0 0" pos="1 0 0">
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<geom name="bunny_box" type="box" mesh="stanford_bunny" rgba="1 0 1 1"/>
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</body>
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<light name="left" pos="0 0 1"/>
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<light name="right" pos="1 0 1"/>
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</worldbody>
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</mujoco>
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