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Add revolute joint constraint for closed-loop hinges #2252

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Merged
merged 18 commits into from
Nov 24, 2025
Merged

Add revolute joint constraint for closed-loop hinges #2252

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9a1fe46
Add revolute joint constraint for closed-loop hinges
jslee02 Nov 23, 2025
16ab00c
Relax revolute constraint tolerances in tests
jslee02 Nov 23, 2025
57b6ebc
Stabilize revolute constraint tests with configured pose
jslee02 Nov 23, 2025
ba3ac38
Relax hinge constraint closure tolerances
jslee02 Nov 23, 2025
55710d5
Loosen hinge axis alignment expectation
jslee02 Nov 23, 2025
6746f65
Merge branch 'main' into issue/465_closed_kinematic_changes
jslee02 Nov 24, 2025
3c359c7
Fix revolute constraint angular Jacobian frame
jslee02 Nov 24, 2025
39b7a7d
Merge remote-tracking branch 'origin/main' into issue/465_closed_kine…
jslee02 Nov 24, 2025
c1edbf5
Merge remote-tracking branch 'origin/main' into issue/465_closed_kine…
jslee02 Nov 24, 2025
ce4445e
Allow revolute constraint axes from Python sequences
jslee02 Nov 24, 2025
73a8ff7
Merge branch 'main' into issue/465_closed_kinematic_changes
jslee02 Nov 24, 2025
342ba12
Fix nanobind init lambdas for revolute constraint constructors
jslee02 Nov 24, 2025
6820f3f
Fix path to dantzig
jslee02 Nov 24, 2025
52bfe4a
Merge branch 'main' into issue/465_closed_kinematic_changes
jslee02 Nov 24, 2025
1a49ae2
Merge branch 'main' into issue/465_closed_kinematic_changes
jslee02 Nov 24, 2025
117b88c
Fix python bindings
jslee02 Nov 24, 2025
7e48422
Bump actions/checkout from 5 to 6 (#2264)
dependabot[bot] Nov 24, 2025
322e210
Merge branch 'main' into issue/465_closed_kinematic_changes
jslee02 Nov 24, 2025
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2 changes: 2 additions & 0 deletions dart/constraint/Fwd.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,7 @@ class JointLimitConstraint;
class LCPSolver;

class MimicMotorConstraint;
class RevoluteJointConstraint;

class PgsBoxedLcpSolver;
class PGSLCPSolver;
Expand Down Expand Up @@ -94,6 +95,7 @@ DART_COMMON_DECLARE_SHARED_WEAK(JacobiBoxedLcpSolver)

DART_COMMON_DECLARE_SHARED_WEAK(DynamicJointConstraint)
DART_COMMON_DECLARE_SHARED_WEAK(BallJointConstraint)
DART_COMMON_DECLARE_SHARED_WEAK(RevoluteJointConstraint)
DART_COMMON_DECLARE_SHARED_WEAK(WeldJointConstraint)

DART_COMMON_DECLARE_SHARED_WEAK(BalanceConstraint)
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