Call ParseMjcPhysicsMeshCollisionAPI() on visual prims that have an inertia attribute#3148
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LouRohanNV wants to merge 2 commits intogoogle-deepmind:mainfrom
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Call ParseMjcPhysicsMeshCollisionAPI() on visual prims that have an inertia attribute#3148LouRohanNV wants to merge 2 commits intogoogle-deepmind:mainfrom
LouRohanNV wants to merge 2 commits intogoogle-deepmind:mainfrom
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havess
requested changes
Mar 4, 2026
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When converting hello_robot_stretch to USD, it creates a visual mesh (
base_link_2) with collision disabled withmjc:inertia = "shell". Because the prim is visual,ParseMjcPhysicsMeshCollisionAPI()was not being called on it to decode this inertia property. If it doesn't have a shell inertia, the volume is too low, and it won't load in MuJoCo simulate.This USD model demonstrates the issue:
hello_robot_stretch.zip