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[geometry] Add optional MuJoCo multi-point contact for convex meshes - #24922

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[geometry] Add optional MuJoCo multi-point contact for convex meshes#24922
xuchenhan-lbm wants to merge 5 commits into
RobotLocomotion:masterfrom
xuchen-han:mujoco-multipoint-pr

[examples] Add a multi-point contact demonstration

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Drake CDash / CDash succeeded Aug 27, 2026 in 0s

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All builds completed successfully :shipit:

Details

Build Name Status Details
linux-noble-clang-bazel-experimental-everything-release/PR-24922 ✅ success
linux-noble-clang-bazel-experimental-leak-sanitizer/PR-24922 ✅ success
linux-noble-gcc-bazel-experimental-debug/PR-24922 ✅ success
linux-noble-gcc-bazel-experimental-everything-release/PR-24922 ✅ success
linux-noble-gcc-cmake-experimental-release/PR-24922 ✅ success
linux-resolute-clang-bazel-experimental-release/PR-24922 ✅ success
linux-resolute-gcc-bazel-experimental-release/PR-24922 ✅ success
mac-arm-sequoia-clang-bazel-experimental-release/PR-24922 ✅ success
View more details on Drake CDash