Add mjs_makeFlex to the MuJoCo C and Python APIs.
- Add mjs_makeFlex C API that wraps mjCFlexcomp::Make(), creating
a flex with auto-generated bodies, joints, and equality constraints
from parameters (type, dim, dof, count, cellcount, spacing, scale,
radius, mass, inertiabox, equality, rigid, flatskin, elastic2d,
pos, quat, origin, file, vfs).
- Add Python binding body.make_flex() in specs.cc with keyword args.
- Refactor flex_spec_provision.py to use make_flex() instead of XML
string templating + separate spec + attach. Eliminates textwrap
dependency.
- Merge user_flexcomp into user_model BUILD target to resolve
circular dependency.
PiperOrigin-RevId: 922725304
Change-Id: Ice13787c45f3173407fec659f9590a6453bc65dd
Alessio Quaglino
4c381635e1