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Add mjs_makeMesh to create a builtin mesh.

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PiperOrigin-RevId: 788538127
Change-Id: I999733399a1a0da07b0f915f34d31364ab8b3b52
This commit is contained in:
Alessio Quaglino
2025-07-29 11:30:19 -07:00
committed by Copybara-Service
parent 46dc67b7eb
commit 89f4789085
23 changed files with 569 additions and 649 deletions
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doc/changelog.rst
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@@ -15,6 +15,7 @@ General
- Removed the SdfLib plugin and the dependency on `SdfLib <https://github.com/UPC-ViRVIG/SdfLib>`__. SDFs are now
supported natively in mjModel.
- Removed ``oct_depth`` from :ref:`mjvOption` (unused).
- Added the functionality to create a builtin meshes, see :ref:`mesh/builtin<asset-mesh-builtin>`.
- Inertia computation in MuJoCo C is now performed by a new :ref:`pipeline<piStages>` function :ref:`mj_makeM`, which
combines the Composite Rigid Body algorithm in :ref:`mj_crb` and additional terms related to
:ref:`tendon armature<tendon-spatial-armature>`. Code that uses :ref:`mj_crb` to compute the inertia should now use