When I import meshes, (3D objects) each one of those objects that have mass require an "inertial" tag, which contains the mass, the diagonal from the inertia matrix, and the "pos", which the docs say is the "position of the inertial frame of reference". What is this last thing? I don't know where to find this. It's an x, y, z value.
What would the position of the inertial frame of reference be for a cube with nothing else?
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<mujoco model="egg_slicer">
<compiler angle="radian" meshdir="meshes/"/>
<default class="viz">
<geom contype="5" conaffinity="1" group="1" type="mesh" rgba=".51 .6 .7 1"/>
</default>
<asset>
<mesh name="base" file="egg_mash1.stl" />
<mesh name="swing" file="egg_mash2.stl"/>
</asset>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.6 0.6 0.6" rgb2="0 0 0" width="512" height="512"/> -->
<texture name="texplane" type="2d" builtin="checker" rgb1=".25 .25 .25" rgb2=".3 .3 .3" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
</asset>
<worldbody>
<geom name="floor" pos="0 0 -0.5" size="0 0 1" type="plane" material="matplane"/>
<light directional="true" diffuse=".8 .8 .8" specular=".2 .2 .2" pos="0 0 5" dir="0 0 -1"/>
<!-- start building our model -->
<body>
<joint type="free" limited='false' damping="0" stiffness="1" armature="0"/>
<geom name="slicer_base" mesh="base" class="viz"/>
<inertial pos="0 0 0" mass="1" diaginertia="0.01 0.01 0.01" />
<body pos="0 0 0">
<joint name="hinge" pos="228.60 120.56 33.58"
axis="0 0 1"
limited="true" range="-3.0 0" /> -->
<geom name="slicer_swing" mesh="swing" class="viz"/>
<inertial pos="228.60 120.56 33.58" mass="703.29" diaginertia="1.36 3.96 5.21"/>
</body>
</body>
</worldbody>
<actuator>
<motor name="hinge" gear="100" joint="hinge"/>
</actuator>
</mujoco>