Add texture coordinates to primitive shape types.

PiperOrigin-RevId: 964882123
Change-Id: I17723d21f29b3fe28e171de5c3d2bea1f55a94c2

doc/changelog.rst

@@ -85,6 +85,21 @@ Rendering
 .. admonition:: Breaking API changes
    :class: attention
 
+   .. image:: https://www.gstatic.com/mujoco/doc/images/changelog/primitives_textured.gif
+      :align: right
+      :width: 40%
+
+   - Added explicit texture coordinates to built-in geometries (Plane, Box, Sphere, Ellipsoid, Capsule,
+     Cylinder) in both the Classic renderer and Filament. 2D textures applied to primitive shapes will look different
+     as textures are mapped using canonical UV parameterizations rather than projecting onto the :math:`x,y` plane.
+
+     For finite planes, textures are now anchored to the bottom-left corner instead of the center. This will cause the
+     most common visual breakage, as common procedural checker textures will be phase shifted. Infinite planes continue
+     to be anchored at the origin with no visual changes.
+
+     .. image:: images/changelog/plane_uv_tiling.png
+        :align: center
+        :width: 70%
    - Added :ref:`light/softness<body-light-softness>`: edge softness for spotlights under physically-based lighting
      models, given as the fraction of the cone over which intensity falls to zero. The default of 0.2 is a semi-soft
      cone which delivers the full :ref:`intensity<body-light-intensity>` everywhere inside it, so that illuminance