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Visualize joint and tendon limits by re-coloring.

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PiperOrigin-RevId: 811590674
Change-Id: I5b65f2294a4bcda3c321fb51ebf29501bd0d416d
This commit is contained in:
Yuval Tassa
2025-09-25 19:01:34 -07:00
committed by Copybara-Service
parent c3bc793331
commit fe8384b6c5
4 changed files with 53 additions and 6 deletions
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doc/changelog.rst
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@@ -19,6 +19,12 @@ General
**Migration:** Replace ``meshdir`` and ``texturedir`` with ``compiler.meshdir`` and ``compiler.texturedir``.
- Joint decorators and spatial tendons which have limits defined and whose current value (angle or length) exceeds the
limit, are recolored by using the :ref:`constraint impedance<soParameters>` :math:`d` to mix the existing color with
:ref:`visual/rgba/constraint<visual-rgba-constraint>`. For spatial tendons, this visualization aid is active only if
no :ref:`material<tendon-spatial-material>` is set and :ref:`rgba<tendon-spatial-rgba>` is default.
Version 3.3.6 (September 15, 2025)
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