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
25 lines
644 B
XML
25 lines
644 B
XML
<mujoco>
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<asset>
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<mesh name="incomplete_convex" inertia="convex"
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vertex="0 0 0 1 0 0 0 1 0 0 0 1"
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face="2 0 3 0 1 3 1 2 3" />
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<mesh name="incomplete"
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vertex="0 0 0 1 0 0 0 1 0 0 0 1"
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face="2 0 3 0 1 3 1 2 3"/>
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<mesh name="complete"
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vertex="0 0 0 1 0 0 0 1 0 0 0 1"
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face="2 0 3 0 1 3 1 2 3 1 0 2"/>
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</asset>
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<worldbody>
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<body>
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<geom type="mesh" mesh="incomplete_convex"/>
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</body>
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<body>
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<geom type="mesh" mesh="incomplete"/>
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</body>
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<body>
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<geom type="mesh" mesh="complete"/>
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</body>
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</worldbody>
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</mujoco>
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