Hello, I have a simple code in which I load a .stl file. I then iterate through model.mesh_vert and put the markers at these points. From my understanding, these points should be exactly the vertices of the mesh. Why the result is different, and how to get the real coordinates used for rendering? I attach the screen, the code and mesh file. Regards, Michal code: https://pastebin.com/4tTNNTbm
In the compiled MuJoCo model, the mesh vertices are 3D points in the geom frame, which is different from the world frame as well as the body frame. The geom frame is computed in mjData.geom_xpos, xmat. The model compiler transforms the STL so that the vertex data is in the geom frame.