Jeongseok (JS) Lee

@psigen I agree that the current API is less intuitive and could cause confusion. Let me create a PR reflecting the comments here.

> Some more questions to consider: Should we also filter out these phantom contact points when providing contact results to the user? And should we watch out for false negatives...

> * `libdart6-dev` should install a `config.hpp` with all these values to 0 (apart from `octomap` which should be listed as a dependency). When another component is being installed (e.g.,...

> Yes, but when checking for DART, how can someone identify with which libraries DART is compiled with? You can specify which optional component should be linked to something like:...

> Yes I understand this, but as I said in my previous comment, this requires that each subcomponent is completely independent. The idea of the optional components is to allow...

Now I'm inclined to using `mIsXDirty` because it seems to be more frequently used in practice. Please let me know if someone has a strong preference here.

I implemented Shapes to do shallow copy for the reason @mxgrey said, but I also didn't consider the case that the Shape properties can be changed. Now I believe the...

Thanks for taking an use case for me. That makes sense. If we would like to introduce master-slave, then I see several possible states of a property. * (single/multi) master...

Could you give it a try with disabling adjacent body checking (`Skeleton::disableAdjacentBodyCheck`)? It seems the case that the contact constraint is not feasible to me.

Quick check: Have you installed all the dependencies? http://dartsim.github.io/install_dartpy_on_macos.html#install-dartpy-using-pip3