Gazebo and Mujoco have incompatible texture mapping for primitive shapes

[azeey]

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