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mujoco

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Design files

Kyle BayesFix polygon orientation for negative mesh scaling. Fixes #3604.b47e70849

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Source

<mujoco>
  <!-- Box deeply penetrating another box -->

  <worldbody>
    <geom type="box" size="1 1 1" rgba=".5 .5 .5 .5"/>
    <body pos=".1 .2 .3">
      <freejoint/>
      <geom type="box" size=".2 .2 .2"/>
    </body>
  </worldbody>
</mujoco>