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

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PiperOrigin-RevId: 500720200
Change-Id: I0a564aff1fe6943002db14f46f789cfdaef4d2de
This commit is contained in:
Alessio Quaglino
2023-01-09 08:28:44 -08:00
committed by Copybara-Service
parent f19d5d2f28
commit 19b6c70e13
6 changed files with 7576 additions and 13 deletions
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test/user/testdata/fitmesh_aabb.xml
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<mujoco>
<compiler fitaabb="true"/>
<asset>
<mesh file="stanford_bunny.obj"/>
</asset>
<worldbody>
<body euler="90 0 0">
<geom type="mesh" mesh="stanford_bunny"/>
</body>
<body euler="90 0 0" pos=".25 0 0">
<geom type="mesh" mesh="stanford_bunny"/>
</body>
<body euler="90 0 0" pos=".5 0 0">
<geom type="mesh" mesh="stanford_bunny"/>
</body>
<body euler="90 0 0" pos=".75 0 0">
<geom type="mesh" mesh="stanford_bunny"/>
</body>
<body euler="90 0 0" pos="1 0 0">
<geom type="mesh" mesh="stanford_bunny"/>
</body>
<body euler="90 0 0">
<geom name="bunny_sphere" type="sphere" mesh="stanford_bunny"/>
</body>
<body euler="90 0 0" pos=".25 0 0">
<geom name="bunny_capsule" type="capsule" mesh="stanford_bunny"/>
</body>
<body euler="90 0 0" pos=".5 0 0">
<geom name="bunny_ellipsoid" type="ellipsoid" mesh="stanford_bunny"/>
</body>
<body euler="90 0 0" pos=".75 0 0">
<geom name="bunny_cylinder" type="cylinder" mesh="stanford_bunny"/>
</body>
<body euler="90 0 0" pos="1 0 0">
<geom name="bunny_box" type="box" mesh="stanford_bunny"/>
</body>
<light name="left" pos="0 0 1"/>
<light name="right" pos="1 0 1"/>
</worldbody>
</mujoco>
test/user/testdata/fitmesh_inertiabox.xml
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<mujoco>
<compiler fitaabb="false"/>
<asset>
<mesh file="stanford_bunny.obj"/>
</asset>
<worldbody>
<body euler="90 0 0">
<geom type="mesh" mesh="stanford_bunny"/>
</body>
<body euler="90 0 0" pos=".25 0 0">
<geom type="mesh" mesh="stanford_bunny"/>
</body>
<body euler="90 0 0" pos=".5 0 0">
<geom type="mesh" mesh="stanford_bunny"/>
</body>
<body euler="90 0 0" pos=".75 0 0">
<geom type="mesh" mesh="stanford_bunny"/>
</body>
<body euler="90 0 0" pos="1 0 0">
<geom type="mesh" mesh="stanford_bunny"/>
</body>
<body euler="90 0 0">
<geom name="bunny_sphere" type="sphere" mesh="stanford_bunny"/>
</body>
<body euler="90 0 0" pos=".25 0 0">
<geom name="bunny_capsule" type="capsule" mesh="stanford_bunny"/>
</body>
<body euler="90 0 0" pos=".5 0 0">
<geom name="bunny_ellipsoid" type="ellipsoid" mesh="stanford_bunny"/>
</body>
<body euler="90 0 0" pos=".75 0 0">
<geom name="bunny_cylinder" type="cylinder" mesh="stanford_bunny"/>
</body>
<body euler="90 0 0" pos="1 0 0">
<geom name="bunny_box" type="box" mesh="stanford_bunny"/>
</body>
<light name="left" pos="0 0 1"/>
<light name="right" pos="1 0 1"/>
</worldbody>
</mujoco>
test/user/testdata/stanford_bunny.obj
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+7474
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