Various architectural and documentation changes#1376
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Nice work, almost there. Just a few small items to improve the documentation result
Moves meanRevertingNoise.h/.cpp to _GeneralModuleFiles where abstract base classes belong. Creates a dedicated MJMeanRevertingNoise SWIG module there so Python subclassing of the base class continues to work.
Moves StochasticAtmDensity out of meanRevertingNoise/ into its own folder with a dedicated MJStochasticAtmDensity SWIG module and .rst. Updates the unit test and scenarioStochasticDrag to import from the new module name.
Moves StochasticDragCoeff out of meanRevertingNoise/ into its own folder with a dedicated MJStochasticDragCoeff SWIG module, .rst, and a new unit test that validates OU statistics on drag coefficient.
Renames the folder, SWIG module (MJPIDControllers -> MJJointPIDController), and test file to match the single concrete class it contains. Adds JointPIDController.rst and updates scenarioBranchingPanels to import from the new module name.
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Moves meanRevertingNoise.h/.cpp to _GeneralModuleFiles where abstract base classes belong. Creates a dedicated MJMeanRevertingNoise SWIG module there so Python subclassing of the base class continues to work.
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Moves StochasticAtmDensity out of meanRevertingNoise/ into its own folder with a dedicated MJStochasticAtmDensity SWIG module and .rst. Updates the unit test and scenarioStochasticDrag to import from the new module name.
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Moves StochasticDragCoeff out of meanRevertingNoise/ into its own folder with a dedicated MJStochasticDragCoeff SWIG module, .rst, and a new unit test that validates OU statistics on drag coefficient.
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Renames the folder, SWIG module (MJPIDControllers -> MJJointPIDController), and test file to match the single concrete class it contains. Adds JointPIDController.rst and updates scenarioBranchingPanels to import from the new module name.
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Description
Refactors
mujocoDynamicsmodule layout to follow BSK conventions (one module per folder, abstract base classes in_GeneralModuleFiles):MeanRevertingNoise(abstract base) moved to_GeneralModuleFileswith its ownMJMeanRevertingNoiseSWIG moduleStochasticAtmDensityandStochasticDragCoeffeach get their own folder and SWIG module (MJStochasticAtmDensity,MJStochasticDragCoeff)PIDControllers/renamed toJointPIDController/, SWIG module renamed toMJJointPIDControllerCommits are organized one module change per commit, with scenario import fixes bundled into the commit that caused them.
Verification
Existing unit tests cover
StochasticAtmDensityandJointPIDController. A new unit test was added forStochasticDragCoeff(previously untested). No logic was changed, only file organization and import paths.Documentation
Added missing
.rstpages forNBodyGravity,JointPIDController,StochasticAtmDensity, andStochasticDragCoeff. Updated path references in existing.rstfiles. Release note snippet added.Future work
None anticipated.