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
24 lines
471 B
XML
24 lines
471 B
XML
<mujoco>
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<asset>
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<mesh file="cube.obj"/>
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<mesh name="inline_cube"
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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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