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Make elasticity plugins compatible with flex pins. Fixes #1235.

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Before change:
poncho       18.20s
poncho_flex  44.60s
floppy       4.70s
floppy_flex  6.43s

After change:
poncho       18.23s
poncho_flex  44.62s
floppy       4.67s
floppy_flex  6.57s

PiperOrigin-RevId: 585952587
Change-Id: I0e7c1513f64c7ab1e6ad71e2168b4467c042b46f
This commit is contained in:
Alessio Quaglino
2023-11-28 06:12:35 -08:00
committed by Copybara-Service
parent 7cb84d45c1
commit 7d8d4d398e
5 changed files with 52 additions and 29 deletions
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doc/changelog.rst
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@@ -33,6 +33,7 @@ Bug fixes
- Fix bug in Cartesian actuation with movable refsite, as when using body-centric Cartesian actuators on a quadruped.
Before this fix such actuators could lead to non-conservation of momentum.
- Fix bug that prevented using flex with the :ref:`passive viewer<PyViewerPassive>`.
- Fix bug that prevented the use of elasticity plugins in combination with pinned flex vertices.
Version 3.0.1 (November 15, 2023)
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