[geometry] Add opt-in MuJoCo multi-point contact for convex meshes - #13

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xuchenhan-lbm wants to merge 5 commits into

mujoco-multipoint-pr

Commits on Aug 26, 2026

[workspace] Add mujoco_internal for native convex collision detection
xuchen-han
committed
256bbbe
[geometry] Add MuJoCo multi-point convex mesh penetration
xuchen-han
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9fe82fc
[multibody] Draw one meshcat arrow for each point contact
xuchen-han
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94c658a
[geometry] Connect MuJoCo multi-point contact to the proximity engine
xuchen-han
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b407975
[examples] Add a multi-point contact demonstration
xuchen-han
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8d694b8