Jeongseok (JS) Lee

I appreciate the opportunity to contribute. However, I have some reservations about the effort required to update and integrate an 18-year-old contribution into the mainline build, as it may be...

Thanks for reporting! This should be "fixed" in 6.14.0 since now it's treated as an error if the required components are not available (e.g., OSG is not detected): https://github.com/dartsim/dart/blob/d2f56b4abf347afbbc92cff763ec8a9dcf7c1fb1/python/dartpy/CMakeLists.txt#L45-L56 Pass...

I'm afraid to say, but currently I don't have enough bandwidth to thoroughly investigate the issue and review the details of the PR for it at the moment. However, I'd...

Sorry, I don't have the capacity to debug the entire test, but the error message indicates that the linear constraints for x in the LCP formulation do not satisfy the...

> hey, I narrowed down the error to the timeStep value of CollisionOfPrescribedJoints in [ test_Collision.cpp](https://github.com/dartsim/dart/blob/main/tests/integration/test_Collision.cpp#L1524). It is set to 0.0/0.0 and it triggers the error. Apologies, I’m a bit...

Thanks for sticking with this (and sorry for the long silence). Tried to address with (https://github.com/dartsim/dart/pull/2098): - Joint::setActuatorType() now clears cached commands when swapping actuator modes, so PASSIVE joints can’t...

You may not need to add a new joint type in that case. Consider specifying the actuator type as either ACCELERATION, VELOCITY, or LOCKED and set the kinematic values (position,...

Hm, would setting the acceleration to zero not achieve the desired behavior in this case? Regardless, it would be helpful if you could create a unit or integration test that...

Thank you for sharing the context. However, I'm still not quite following why a new joint type is needed, as I believe it can be achieved by using a proper...

Or, as this code is not used directly in this repo, you could consider having it in a downstream repository as a stopgap solution to unblock your work. I'm still...