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Add sphere and cylinder internal wrapping for spatial tendons to MJX. #2496

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Run time

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Job	Run time
ubuntu-22.04-gcc-12	13m 9s
ubuntu-22.04-gcc-11	12m 55s
ubuntu-22.04-gcc-10	12m 27s
ubuntu-22.04-gcc-9	11m 58s
ubuntu-22.04-clang-14	13m 9s
ubuntu-22.04-clang-13	13m 46s
ubuntu-20.04-clang-12	13m 3s
ubuntu-20.04-clang-11	13m 25s
ubuntu-20.04-clang-10	13m 20s
macos-13	18m 43s
windows-2022	13m 59s
	2h 29m 54s