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
30 lines
1013 B
XML
30 lines
1013 B
XML
<mujoco>
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<default>
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<mesh scale="10 10 10" inertia="exact"/>
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</default>
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<asset>
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<mesh file="cube_cup.obj"/>
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<mesh file="cube_cup_quad.obj"/>
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<mesh file="cube_cup_hi.obj"/>
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</asset>
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<worldbody>
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<light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
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<body pos="-1.5 0 1">
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<geom type="mesh" mesh="cube_cup" density="1"/>
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</body>
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<body pos="0 0 1">
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<geom type="mesh" mesh="cube_cup_quad" density="1"/>
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</body>
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<body pos="1.5 0 1">
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<geom type="mesh" mesh="cube_cup_hi" density="1"/>
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</body>
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<body pos="3 0 1">
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<geom type="box" pos="0 0 0.05" size=".5 .5 .05" density="1"/>
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<geom type="box" pos="-.45 0 .55" size=".05 .5 .45" density="1"/>
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<geom type="box" pos=" .45 0 .55" size=".05 .5 .45" density="1"/>
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<geom type="box" pos="0 -.45 .55" size=".4 .05 .45" density="1"/>
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<geom type="box" pos="0 .45 .55" size=".4 .05 .45" density="1"/>
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</body>
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</worldbody>
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</mujoco>
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