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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/changelog.rst
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@@ -31,6 +31,9 @@ General
- Added support for shells with a curved reference configuration. See this `example
<https://github.com/google-deepmind/mujoco/blob/main/model/flex/basket.xml>`__.
- Added support for assigning a default material to a mesh asset using the :ref:`mesh/material <asset-mesh-material>`
attribute.
MJX
^^^
- Promote ``ten_length`` to the public MJX API. Add Warp support for ``mjx.tendon``.