gz-mujoco
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Gazebo and Mujoco have incompatible texture mapping for primitive shapes
The difference in texture mapping between Gazebo and Mujoco is best demonstrated with images:
Mujoco with //texture/@type="2d"
Mujoco with //texture/@type="cube"
and //material/texuniform="true"
Mujoco with //texture/@type="cube"
and //material/texuniform="false"
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