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gazebosim / gz-mujoco

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Gazebo and Mujoco have incompatible texture mapping for primitive shapes #58

Open azeey opened 2 years ago

azeey commented 2 years ago

The difference in texture mapping between Gazebo and Mujoco is best demonstrated with images:

image

Mujoco with //texture/@type="2d" image

Mujoco with //texture/@type="cube" and //material/texuniform="true" image

Mujoco with //texture/@type="cube" and //material/texuniform="false" image

from this, we can see that the combination //texture/@type="cube" and //material/texuniform="false" is the closest to Gazebo, but it still very different.

SDFormat file and texture: shapes.sdf albedo.png