add utilities for tendon wrapping #223

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thowell wants to merge 1 commit into google-deepmind:main from thowell:tendon_wrapping

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thowell commented May 7, 2025

adds utilities:

is_intersect
wrap_circle
wrap_inside
wrap

for tendon wrapping

mujoco reference: https://github.com/google-deepmind/mujoco/blob/main/src/engine/engine_util_misc.c


          add utilities for tendon wrapping

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Tendons: geom wrapping #60

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thowell mentioned this pull request

spatial tendon: sphere geom wrap, cylinder geom wrap, and pulley #239

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