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Improve mesh-fitting image in changelog.

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PiperOrigin-RevId: 500782543
Change-Id: Iecec45abd3cb1e5a06df58ae32ebe1998584024a
This commit is contained in:
Yuval Tassa
2023-01-09 12:39:33 -08:00
committed by Copybara-Service
parent 703b33c064
commit adf71cc6b4
5 changed files with 19 additions and 14 deletions
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doc/changelog.rst
+4 -3
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@@ -11,14 +11,15 @@ General
- The function :ref:`mj_name2id` is now implemented using a hash function instead of a linear search for better - The function :ref:`mj_name2id` is now implemented using a hash function instead of a linear search for better
performance. performance.
.. image:: images/changelog/meshfit.png
:align: right
:width: 300px
Bug fixes Bug fixes
^^^^^^^^^ ^^^^^^^^^
- Fixed misalignment bug in mesh-to-primitive fitting when using the bounding box fitting option :at:`fitaabb`. - 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) Version 2.3.1 (December 6, 2022)
----------------------------------- -----------------------------------
doc/images/changelog/aabb.png
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test/user/testdata/fitmesh_aabb.xml
Vendored
+7 -5
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@@ -1,8 +1,10 @@
<mujoco> <mujoco>
<compiler fitaabb="true"/> <compiler fitaabb="true"/>
<asset> <asset>
<mesh file="stanford_bunny.obj"/> <mesh file="stanford_bunny.obj"/>
</asset> </asset>
<worldbody> <worldbody>
<body euler="90 0 0"> <body euler="90 0 0">
<geom type="mesh" mesh="stanford_bunny"/> <geom type="mesh" mesh="stanford_bunny"/>
@@ -20,19 +22,19 @@
<geom type="mesh" mesh="stanford_bunny"/> <geom type="mesh" mesh="stanford_bunny"/>
</body> </body>
<body euler="90 0 0"> <body euler="90 0 0">
<geom name="bunny_sphere" type="sphere" mesh="stanford_bunny"/> <geom name="bunny_sphere" type="sphere" mesh="stanford_bunny" rgba="1 0 1 1"/>
</body> </body>
<body euler="90 0 0" pos=".25 0 0"> <body euler="90 0 0" pos=".25 0 0">
<geom name="bunny_capsule" type="capsule" mesh="stanford_bunny"/> <geom name="bunny_capsule" type="capsule" mesh="stanford_bunny" rgba="1 0 1 1"/>
</body> </body>
<body euler="90 0 0" pos=".5 0 0"> <body euler="90 0 0" pos=".5 0 0">
<geom name="bunny_ellipsoid" type="ellipsoid" mesh="stanford_bunny"/> <geom name="bunny_ellipsoid" type="ellipsoid" mesh="stanford_bunny" rgba="1 0 1 1"/>
</body> </body>
<body euler="90 0 0" pos=".75 0 0"> <body euler="90 0 0" pos=".75 0 0">
<geom name="bunny_cylinder" type="cylinder" mesh="stanford_bunny"/> <geom name="bunny_cylinder" type="cylinder" mesh="stanford_bunny" rgba="1 0 1 1"/>
</body> </body>
<body euler="90 0 0" pos="1 0 0"> <body euler="90 0 0" pos="1 0 0">
<geom name="bunny_box" type="box" mesh="stanford_bunny"/> <geom name="bunny_box" type="box" mesh="stanford_bunny" rgba="1 0 1 1"/>
</body> </body>
<light name="left" pos="0 0 1"/> <light name="left" pos="0 0 1"/>
<light name="right" pos="1 0 1"/> <light name="right" pos="1 0 1"/>
test/user/testdata/fitmesh_inertiabox.xml
Vendored
+8 -6
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@@ -1,8 +1,10 @@
<mujoco> <mujoco>
<compiler fitaabb="false"/> <compiler fitaabb="false" exactmeshinertia="true"/>
<asset> <asset>
<mesh file="stanford_bunny.obj"/> <mesh file="stanford_bunny.obj"/>
</asset> </asset>
<worldbody> <worldbody>
<body euler="90 0 0"> <body euler="90 0 0">
<geom type="mesh" mesh="stanford_bunny"/> <geom type="mesh" mesh="stanford_bunny"/>
@@ -20,19 +22,19 @@
<geom type="mesh" mesh="stanford_bunny"/> <geom type="mesh" mesh="stanford_bunny"/>
</body> </body>
<body euler="90 0 0"> <body euler="90 0 0">
<geom name="bunny_sphere" type="sphere" mesh="stanford_bunny"/> <geom name="bunny_sphere" type="sphere" mesh="stanford_bunny" rgba="1 0 1 1"/>
</body> </body>
<body euler="90 0 0" pos=".25 0 0"> <body euler="90 0 0" pos=".25 0 0">
<geom name="bunny_capsule" type="capsule" mesh="stanford_bunny"/> <geom name="bunny_capsule" type="capsule" mesh="stanford_bunny" rgba="1 0 1 1"/>
</body> </body>
<body euler="90 0 0" pos=".5 0 0"> <body euler="90 0 0" pos=".5 0 0">
<geom name="bunny_ellipsoid" type="ellipsoid" mesh="stanford_bunny"/> <geom name="bunny_ellipsoid" type="ellipsoid" mesh="stanford_bunny" rgba="1 0 1 1"/>
</body> </body>
<body euler="90 0 0" pos=".75 0 0"> <body euler="90 0 0" pos=".75 0 0">
<geom name="bunny_cylinder" type="cylinder" mesh="stanford_bunny"/> <geom name="bunny_cylinder" type="cylinder" mesh="stanford_bunny" rgba="1 0 1 1"/>
</body> </body>
<body euler="90 0 0" pos="1 0 0"> <body euler="90 0 0" pos="1 0 0">
<geom name="bunny_box" type="box" mesh="stanford_bunny"/> <geom name="bunny_box" type="box" mesh="stanford_bunny" rgba="1 0 1 1"/>
</body> </body>
<light name="left" pos="0 0 1"/> <light name="left" pos="0 0 1"/>
<light name="right" pos="1 0 1"/> <light name="right" pos="1 0 1"/>