Alessio Quaglino
5c5449bf82
- Mesh inertias can now be computed exactly for well-formed (no holes) non-convex meshes. - To activate this feature, set `<compiler exactmeshinertia="true">` (defaults to `false`). This default may change in the future. - Added `<geom shellinertia="true/false">` (defaults to `false`). When true, geom inertia is computed assuming all the mass is concentrated on the surface, and `density` is interpreted as surface density (mass/area). Currently only mesh geoms are supported. PiperOrigin-RevId: 464368395 Change-Id: I17afd99b9b221c9d24ae951f6e63d5c61ff89820
28 lines
1.0 KiB
XML
28 lines
1.0 KiB
XML
<mujoco>
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<compiler exactmeshinertia="true"/>
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<asset>
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<mesh file="cube_cup.obj" scale="10 10 10"/>
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<mesh file="cube_cup_quad.obj" scale="10 10 10"/>
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<mesh file="cube_cup_hi.obj" scale="10 10 10"/>
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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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