Features added for the flycontrol project - #305
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Jul 5, 2026
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- Add additional getters/setters for the GPUSimulation interface
…h gap Verified the split introduces no new body/DOF (trochanter and femur remain two geoms on one rigid body), conserves the pre-split mass, and gets distinct segmentation ids -- and that this holds with compiler/fusestatic both true and false (the tiny fusestatic-dependent trajectory drift observed is pre-existing and unrelated to this split). Separately verified that splitting does not change simulated kinematics at all: compiled body mass/inertia/CoM and simulated qpos trajectories (free-fall and ground-contact) are bit-identical to the pre-split fused geom, both with fusestatic on and off. MeshType.FULLSIZE was broken by the original split commit: only the simplified_max2000faces mesh set got split trochanter/femur meshes, so loading FULLSIZE raised FileNotFoundError. Added scripts/dev/split_trochanterfemur_mesh.py, which recovers the exact cut plane already used for the simplified split (from the shared seam vertices between the committed trochanter/femur pieces) and applies it to the fullsize fused mesh -- validated end-to-end (loads, compiles, simulates, and renders with distinct segmentation ids). Publishing the new fullsize meshes to S3 and bumping NEUROMECHFLY_FULLSIZE_MESH_DIR is a manual step outside this repo, so the existing test is marked xfail with a reason pointing at the script, and the docstring notes the gap. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
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