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
24 lines
488 B
XML
24 lines
488 B
XML
<mujoco>
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<asset>
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<mesh file="cube.obj"/>
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<mesh name="inline_cube" inertia="convex"
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vertex="
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-.5 -.5 -.5
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.5 -.5 -.5
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.5 .5 -.5
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-.5 .5 -.5
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-.5 -.5 .5
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.5 -.5 .5
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.5 .5 .5
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-.5 .5 .5"/>
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</asset>
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<worldbody>
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<body>
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<geom type="mesh" mesh="cube" density="1"/>
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</body>
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<body>
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<geom type="mesh" mesh="inline_cube" density="1"/>
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</body>
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</worldbody>
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</mujoco>
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