Add flat ground helper methods - #239
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…log-support Feature/mujoco log support
…rench-calculation Feature/joint wrench calculation
…tics#223) This makes it easier to attach custom UIs to the sims and do other stuff that was previously only possible with SessionVisualizer --------- Co-authored-by: Alexander OCU <rosie@ihmc.org>
- Added ability to open multiple logs to SCS2 - Added some additional Color and Material Definition types (ColorDefinitions, MaterialDefinitions) - Added a default flat ground terrain - Added the ability to programmatically add charts to the visualizer.
…erent CompressionType. Looking to use Zstd in the future (ihmcrobotics#227)
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Hi — I noticed the draft PRs #232 through #239 were closed together. Before I retire the branches, could you let me know how you'd like me to handle the batch? I can leave them closed, refresh only the changes you still want as ready PRs, or consolidate the useful pieces into fewer PRs against current The linked issues are still open, and I had run the targeted checks for each branch plus a combined integration pass. I won't reopen anything unless you ask. Thanks. |
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Summary
SimulationConstructionSet2.addFlatGround(...)helpersFlatGroundDefinitionconstructors andaddTerrainObject(...)Verification
git diff --checkResult:
BUILD SUCCESSFUL in 11s,9actionable tasks executed.Result:
BUILD SUCCESSFUL in 24s,24actionable tasks executed.Notes
Opening as draft because the implementation is narrow and verified, but the exact overload set is API preference.
Coordination Note
I also ran a local-only stack sweep for this SCS2 draft set (
#232-#239) on top ofdevelopusingSproutSeeds:cody/scs2-draft-pr-stack-local-sweep-2026-05-08. The branches merged cleanly,git diff --check origin/develop..HEADpassed, and the affected module builds plus nested JavaFX/logger regression test projects passed on Umbra WSL. No separate PR is open for that integration branch; it is just evidence that the draft set composes.