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Do not modify mesh position when fitting a geom to the mesh AABB.

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Also, unify the meaning of fitting a geom to an AABB: it now means to find the smallest geom such that its AABB contains the mesh AABB.

Fixes #2881.

PiperOrigin-RevId: 817097544
Change-Id: I883c686feffa803bd16ba461db24a474dfec7712
This commit is contained in:
Alessio Quaglino
2025-10-09 03:04:14 -07:00
committed by Copybara-Service
parent 3a299c49ca
commit 98682ae284
7 changed files with 41 additions and 63 deletions
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doc/changelog.rst
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@@ -38,6 +38,12 @@ MJX
- Pull in MuJoCo Warp updatest to ``io.py``, and use ``naconmax`` instead of ``naconmax`` to set the maximum number of
contacts over all environments.
Bug fixes
^^^^^^^^^
- Fix :github:issue:`2881`, :at:`fitaabb` was adding an offset to the mesh and applying an incorrect frame
transformation. Also, unify the meaning of fitting a geom to a mesh AABB: it now means to find the smallest geom such
that its AABB contains the mesh AABB.
Version 3.3.6 (September 15, 2025)
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