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Add external sphere and cylinder wrapping for spatial tendons to MJX.

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PiperOrigin-RevId: 681808698
Change-Id: I37612e2c6b781b759f9009e1bc6ae10b4e861c8d
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Taylor Howell
2024-10-03 03:55:17 -07:00
committed by Copybara-Service
parent dfd1f8fefc
commit c7c2edf758
10 changed files with 590 additions and 37 deletions
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doc/changelog.rst
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@@ -16,8 +16,8 @@ General
MJX
^^^
- Added ``mocap_pos`` and ``mocap_quat`` in kinematics.
- Added support for :ref:`spatial tendons <tendon-spatial>` with external sphere and cylinder wrapping.
Bug fixes
^^^^^^^^^