Diego Ferigo

> Since `ignition-transport` is based on ZMQ over TCP, I don't think that there should be any fundamental problems regarding Docker's network drivers. > We could also try restricting the...

>> That's interesting to hear. Adding the --network=host here will cause this error when trying to run with the GUI: >> ``` >> dbus[10]: The last reference on a connection...

Considering that CMake is one of the most spread build systems, and out-of-tree compilation is very common, looking for the `compile_commands.json` file in the `${PROJECT_SOURCE_DIR}/build` directory would be a great...

Thanks @hamidingit for your input! That is similar to my current setup, in which I install VS Code inside the Docker image. The only difference is that, being on the...

cc @xela-95

First off, JaxSim currently considers frames the following: - All the `` elements specified in the SDF. - The frames of the links that have been removed during model loading...

> An indexing similar to iDynTree is useful so users have a consistent API for all methods and they do not need to worry if they need to provide a...

xref https://github.com/ami-iit/bipedal-locomotion-framework/pull/630. Note that JaxSim uses nanoseconds since the beginning (#1). The problem here is not handling time as nanoseconds, but handling time as nanoseconds stored in 32-bit types.

For those that might be interested in adding support for contact forces visualization, I'd start exploring the programmatic addition of arrows using the [`user_scn`](https://mujoco.readthedocs.io/en/stable/python.html#passive-viewer) attribute of the viewer together with:...

The Python Standard Library has a [`decimal`](https://docs.python.org/3/library/decimal.html) module that is pretty interesting for this kind of problems. Unfortunately, there is nothing comparable for either numpy of JAX. In order to...