Use global coordinates for computing the frame position of a primitive geom fitted to a mesh.

PiperOrigin-RevId: 500720200 Change-Id: I0a564aff1fe6943002db14f46f789cfdaef4d2de
2023-01-09 08:28:44 -08:00
parent f19d5d2f28
commit 19b6c70e13
6 changed files with 7576 additions and 13 deletions
@@ -4,9 +4,21 @@ Changelog

 Upcoming version (not yet released)
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+
+General
+^^^^^^^
+
 - The function :ref:`mj_name2id` is now implemented using a hash function instead of a linear search for better
  performance.

+Bug fixes
+^^^^^^^^^
+
+- Fixed misalignment bug in mesh-to-primitive fitting when using the bounding box fitting option :at:`fitaabb`.
+
+  .. image:: images/changelog/aabb.png
+     :width: 300px
+
 Version 2.3.1 (December 6, 2022)
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