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Add ability to specify a material assignment to a mesh asset.

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This extends both the spec and the XML definition to allow specification of a material name on a mesh. This material acts as a fallback in the case that the referencing geom element does not specify a material of it's own.

PiperOrigin-RevId: 798232378
Change-Id: Iaf300c727732744ea1b613e64334ee505ac6e209
This commit is contained in:
Sam Haves
2025-08-22 09:10:35 -07:00
committed by Copybara-Service
parent 42d8454555
commit 1fb1810b07
13 changed files with 120 additions and 29 deletions
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doc/XMLschema.rst
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@@ -105,6 +105,8 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`maxhullvert<asset-mesh-maxhullvert>` | :ref:`inertia<asset-mesh-inertia>` | :ref:`builtin<asset-mesh-builtin>` | :ref:`params<asset-mesh-params>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`material<asset-mesh-material>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| mesh |br| |_2| |L| | | .. table:: |
| :ref:`plugin | \* | :class: mjcf-attributes |