Alessio Quaglino
98682ae284
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
43 lines
1.3 KiB
XML
43 lines
1.3 KiB
XML
<mujoco>
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<compiler fitaabb="true"/>
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<asset>
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<mesh file="stanford_bunny.obj"/>
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</asset>
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<worldbody>
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<body euler="90 0 0">
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<geom type="mesh" mesh="stanford_bunny"/>
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</body>
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<body euler="90 0 0" pos=".25 0 0">
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<geom type="mesh" mesh="stanford_bunny"/>
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</body>
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<body euler="90 0 0" pos=".5 0 0">
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<geom type="mesh" mesh="stanford_bunny"/>
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</body>
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<body euler="90 0 0" pos=".75 0 0">
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<geom type="mesh" mesh="stanford_bunny"/>
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</body>
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<body euler="90 0 0" pos="1 0 0">
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<geom type="mesh" mesh="stanford_bunny"/>
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</body>
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<body euler="90 0 0">
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<geom name="bunny_sphere" type="sphere" mesh="stanford_bunny" rgba="1 0 1 .5"/>
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</body>
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<body euler="90 0 0" pos=".25 0 0">
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<geom name="bunny_capsule" type="capsule" mesh="stanford_bunny" rgba="1 0 1 .5"/>
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</body>
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<body euler="90 0 0" pos=".5 0 0">
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<geom name="bunny_ellipsoid" type="ellipsoid" mesh="stanford_bunny" rgba="1 0 1 .5"/>
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</body>
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<body euler="90 0 0" pos=".75 0 0">
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<geom name="bunny_cylinder" type="cylinder" mesh="stanford_bunny" rgba="1 0 1 .5"/>
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</body>
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<body euler="90 0 0" pos="1 0 0">
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<geom name="bunny_box" type="box" mesh="stanford_bunny" rgba="1 0 1 .5"/>
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</body>
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<light name="left" pos="0 0 1"/>
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<light name="right" pos="1 0 1"/>
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</worldbody>
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</mujoco>
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